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Joint-angle-drift remedy of three-link planar robot arm performing different types of end-effector trajectories

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4 Author(s)
Yunong Zhang ; Sch. of Inf. Sci. & Technol., Sun Yat-Sen Univ., Guangzhou, China ; Xuezhong Li ; Hong Zhu ; Ning Tan

In this paper, the quadratic-programming (QP) based scheme-formulation is employed to handle the joint-angle-drift problem of a redundant three-link planar robot arm with its end-effector moving along different types of trajectories (e.g., a Lissajous-figure path, a triangular path and an elliptical path). The physical constraints such as joint limits and joint velocity limits are considered as well. A series of computer-simulations are conducted, which demonstrate the effectiveness of such a scheme-formulation and its neural-network solver on motion planning.

Published in:

Intelligent Computing and Intelligent Systems, 2009. ICIS 2009. IEEE International Conference on  (Volume:2 )

Date of Conference:

20-22 Nov. 2009