Control of kinematically redundant manipulator with actuator constraints

M. Galicki
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引用次数: 3

Abstract

This study addresses the problem of collision-free controlling a kinematically redundant manipulator whose end-effector follows a prescribed geometric path given in the task space. The control constraints resulting from the physical abilities of robot actuators are also taken into account during the robot movement. Through the use of the exterior penalty function approach, collision avoidance of the manipulator with obstacles may be ensured. Provided that, a solution to the aforementioned robot task exists, the Lyapunov stability theory is used to derive the control scheme. The numerical simulation results carried out for a planar manipulator whose end-effector follows a prescribed geometric path given in a work space including obstacles, illustrate the controller performance.
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具有执行器约束的运动冗余机械手控制
研究了末端执行器沿任务空间给定的几何路径运动的冗余机械臂的无碰撞控制问题。在机器人运动过程中,还考虑了由机器人执行器的物理能力引起的控制约束。利用外部罚函数方法,可以保证机械手与障碍物的避碰。在上述机器人任务存在解的情况下,利用Lyapunov稳定性理论推导控制方案。在包含障碍物的工作空间中,对末端执行器遵循指定几何路径的平面机械臂进行了数值仿真,验证了该控制器的性能。
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