Bi-criteria minimization with MWVN–INAM type for motion planning and control of redundant robot manipulators

摘要

This study proposes and investigates a new type of bi-criteria minimization (BCM) for the motion planning and control of redundant robot manipulators to address the discontinuity problem in the infinity-norm acceleration minimization (INAM) scheme and to guarantee the final joint velocity of motion to be approximate to zero. This new type is based on the combination of minimum weighted velocity norm (MWVN) and INAM criteria, and thus is called the MWVN-INAM-BCM scheme. In formulating such a scheme, joint-angle, joint-velocity, and joint-acceleration limits are incorporated. The proposed MWVN-INAM-BCM scheme is reformulated as a quadratic programming problem solved at the joint-acceleration level. Simulation results based on the PUMA560 robot manipulator validate the efficacy and applicability of the proposed MWVN-INAM-BCM scheme in robotic redundancy resolution. In addition, the physical realizability of the proposed scheme is verified in practical application based on a six-link planar robot manipulator.