Abstract
In this paper, with the aid of Ma equivalence (ME), a different-level simultaneous minimization (DLSM) scheme is proposed and investigated for robotic redundancy resolution. Such a DLSM scheme, combining the minimum kinetic energy (MKE) and minimum acceleration norm (MAN) solutions via a weighting factor, can prevent the occurrence of relatively high joint velocity/acceleration and can guarantee the final joint velocity of motion to be near zero. Simulation results based on PUMA560 robot manipulator further substantiate the efficacy and flexibility of the proposed DLSM scheme on robotic redundancy resolution.
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CITATION STYLE
Qiu, B., Guo, D., Tan, H., Yang, Z., & Zhang, Y. (2014). Different-level simultaneous minimization with aid of ma equivalence for robotic redundancy resolution. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8866, pp. 431–438). Springer Verlag. https://doi.org/10.1007/978-3-319-12436-0_48
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