Notification:
We are currently experiencing intermittent issues impacting performance. We apologize for the inconvenience.
By Topic

Variable Joint-Velocity Limits of Redundant Robot Manipulators Handled by Quadratic Programming

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Zhijun Zhang ; Sch. of Inf. Sci. & Technol., Sun Yat-Sen Univ., Guangzhou, China ; Yunong Zhang

In this paper, a variable joint-velocity limits (VJVL)-constrained minimum-velocity-norm (MVN) scheme (termed VJVL-constrained MVN scheme) is proposed and investigated for redundant manipulators, i.e., the JVL change with the end-effector and joints movement. The scheme is then formulated as a quadratic program (QP), which is subject to an equality constraint and a bound constraint, and such a QP problem is solved by a discrete QP solver, i.e., a numerical algorithm. In addition, experimental results performed on a planar six degrees-of-freedom (6-DOF) push-rod (PR) redundant robot manipulator substantiate the physical realizability and efficacy of such a VJVL-constrained MVN scheme and the corresponding discrete QP solver. Furthermore, the position-error analyses verify the accuracy of the proposed scheme on redundant manipulators.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:18 ,  Issue: 2 )