Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators

DOI10.1016/J.PHYSLETA.2009.07.045MaRDI QIDQ665354zbMATH OpenOpenAlexFDO

Authors Binghuang Cai, Yunong Zhang

Publication date 5 March 2012

Published in Physics Letters. A (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.physleta.2009.07.045

zbMATH Keywords

different levelsequivalencegradient descentPUMA560 robot manipulatorquadratic programmingredundancy resolution

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Quadratic programming (90C20)

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Cites work

• A dual neural network for convex quadratic programming subject to linear equality and inequality constraints
• Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories
• Finding the chaotic synchronizing state with gradient descent algorithm
• Springer handbook of robotics. With DVD

Cited in

(6)

• From mathematical equivalence such as Ma equivalence to generalized Zhang equivalency including gradient equivalency
• Using GD to conquer the singularity problem of conventional controller for output tracking of nonlinear system of a class
• The actuation efficiency, a measure of acceleration capability for nonredundant robotic manipulators
• Relation between global velocity and local torque optimization of redundant manipulators
• Analysis, verification and comparison on feedback-aided Ma equivalence and Zhang equivalency of minimum-kinetic-energy type for kinematic control of redundant robot manipulators
• Two/infinity norm criteria resolution of manipulator redundancy at joint-acceleration level using primal-dual neural network

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