A solution to robotic inverse-kinematic problem using bi-criteria weighted optimization

摘要

To diminish discontinuity-points arising in the infinity-norm velocity-minimization scheme,a bicriteria velocity-minimization scheme was developed.The kinematic-control scheme of redundant manipulators could incorporate joint physical limits,such as,joint limits and joint velocity limits simultaneously.Moreover,the method could be reformulated as a quadratic programming(QP) problem.As a real-time QP solver,a LVIbased primal-dual neural network was developed with a simple piecewise-linear structure and higher computational efficiency.Computer simulations performed based on PUMA560 manipulator illustrate the validity and advantages of the proposed neural control scheme for redundant robots.