Real-Time Joint Angular-Acceleration Planning for Vision-Based Kinematically Redundant Manipulator in Dynamic Environment

This paper presents an angular acceleration planning for joint configuration spaces of vision-based kinematically redundant robot manipulators to achieve real-time tracking tasks in dynamic environment. In accordance with the proved proposition, the joint velocity formed by the inverse kinematics mapping of the defined pose error is regarded as the system error, and utilized to further deduce the planned joint angular acceleration and with kinematic redundancy for obstacle avoidance simultaneously. Highly-complex nonlinearities in the angular acceleration are equivalent to a system perturbation represented by a synthetic form, thereby simplifying the tedious calculations of the angular acceleration theoretically and converting the planning problem into a control problem. Hyperbolic tangent-based super twisting algorithm, as the control input of manipulator system, is designed to resist the synthetic perturbation. The collision-free movement of redundant manipulators for tracking tasks is thus achieved through the integration of the control input in real time. An error-based S-function is proposed as the internal parameter of the planned joint acceleration to prevent the integral saturation. Lyapunov theoretical analysis proves the stability of the proposed super twisting algorithm. Simulation and contrast experiments in dynamic-obstacles environments indicate that the proposed joint angular acceleration planning for kinematically redundant manipulators owns feasibility, smoothness and practicability.