A unified quadratic-programming-based dynamical system approach to joint torque optimization of physically constrained redundant manipulators

A unified quadratic-programming-based dynamical system approach to joint torque optimization of physically constrained redundant manipulators

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Article ID: iaor2006558
Country: United States
Volume: 34
Issue: 5
Start Page Number: 2126
End Page Number: 2132
Publication Date: Oct 2004
Journal: IEEE Transactions On Systems, Man and Cybernetics
Authors: , ,
Keywords: programming: quadratic
Abstract:

In this paper, for joint torque optimization of redundant manipulators subject to physical constraints, we show that velocity-level and acceleration-level redundancy-resolution schemes both can be formulated as a quadratic programming (QP) problem subject to equality and inequality/bound constraints. To solve this QP problem online, a primal–dual dynamical system solver is further presented based on linear variational inequalities. Compared to previous researches, the presented QP-solver has simple piecewise-linear dynamics, does not entail real-time matrix inversion, and could also provide joint-acceleration information for manipulator torque control in the velocity-level redundancy-resolution schemes. The proposed QP-based dynamical system approach is simulated based on the PUMA560 robot arm with efficiency and effectiveness demonstrated.

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