A hybrid algorithm for the kinematic control of redundant robots

Weihai Chen; Mingming Yang; Shouqian Yu; Tianmiao Wang

doi:10.1109/ICSMC.2004.1401230

A hybrid algorithm for the kinematic control of redundant robots

Weihai Chen^*
, Mingming Yang
, Shouqian Yu
, Tianmiao Wang

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

Based on both Paden-Kahan Subproblems and joint rate control approach, this paper presents a new control method, termed hybrid algorithm, for the kinematic control of redundant robots. The hybrid algorithm uses joint rate control first to do kinematic control with optimization for performance criteria through utilizing redundancy, then fix some special joints to let the robots are non-redundant, finally, Paden-Kahan Subproblems is utilized to solve residual joints. Therefore, we can get closed-form solutions of robots at position level. Comparing with the numerical iterative method that is a control algorithm with position level, hybrid algorithm is computation effective relatively. The effectiveness of the proposed algorithms has been demonstrated by a 7-DOF serial robot for the avoidance of joint angle limits.

Original language	English
Title of host publication	2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004
Pages	4438-4443
Number of pages	6
DOIs	https://doi.org/10.1109/ICSMC.2004.1401230
State	Published - 2004
Event	2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, Netherlands Duration: 10 Oct 2004 → 13 Oct 2004

Publication series

Name	Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume	5
ISSN (Print)	1062-922X

Conference

Conference	2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004
Country/Territory	Netherlands
City	The Hague
Period	10/10/04 → 13/10/04

Keywords

Kinematics control
Redundant robots
Screw theory

Access to Document

10.1109/ICSMC.2004.1401230

Cite this

@inproceedings{6f492f61c3ad4d84830f0f17ec6cee30,

title = "A hybrid algorithm for the kinematic control of redundant robots",

abstract = "Based on both Paden-Kahan Subproblems and joint rate control approach, this paper presents a new control method, termed hybrid algorithm, for the kinematic control of redundant robots. The hybrid algorithm uses joint rate control first to do kinematic control with optimization for performance criteria through utilizing redundancy, then fix some special joints to let the robots are non-redundant, finally, Paden-Kahan Subproblems is utilized to solve residual joints. Therefore, we can get closed-form solutions of robots at position level. Comparing with the numerical iterative method that is a control algorithm with position level, hybrid algorithm is computation effective relatively. The effectiveness of the proposed algorithms has been demonstrated by a 7-DOF serial robot for the avoidance of joint angle limits.",

keywords = "Kinematics control, Redundant robots, Screw theory",

author = "Weihai Chen and Mingming Yang and Shouqian Yu and Tianmiao Wang",

year = "2004",

doi = "10.1109/ICSMC.2004.1401230",

language = "英语",

isbn = "0780385667",

series = "Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics",

pages = "4438--4443",

booktitle = "2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004",

note = "2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 ; Conference date: 10-10-2004 Through 13-10-2004",

}

Chen, W, Yang, M, Yu, S & Wang, T 2004, A hybrid algorithm for the kinematic control of redundant robots. in 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004. Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, vol. 5, pp. 4438-4443, 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004, The Hague, Netherlands, 10/10/04. https://doi.org/10.1109/ICSMC.2004.1401230

A hybrid algorithm for the kinematic control of redundant robots. / Chen, Weihai; Yang, Mingming; Yu, Shouqian et al.
2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004. 2004. p. 4438-4443 (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics; Vol. 5).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A hybrid algorithm for the kinematic control of redundant robots

AU - Chen, Weihai

AU - Yang, Mingming

AU - Yu, Shouqian

AU - Wang, Tianmiao

PY - 2004

Y1 - 2004

N2 - Based on both Paden-Kahan Subproblems and joint rate control approach, this paper presents a new control method, termed hybrid algorithm, for the kinematic control of redundant robots. The hybrid algorithm uses joint rate control first to do kinematic control with optimization for performance criteria through utilizing redundancy, then fix some special joints to let the robots are non-redundant, finally, Paden-Kahan Subproblems is utilized to solve residual joints. Therefore, we can get closed-form solutions of robots at position level. Comparing with the numerical iterative method that is a control algorithm with position level, hybrid algorithm is computation effective relatively. The effectiveness of the proposed algorithms has been demonstrated by a 7-DOF serial robot for the avoidance of joint angle limits.

AB - Based on both Paden-Kahan Subproblems and joint rate control approach, this paper presents a new control method, termed hybrid algorithm, for the kinematic control of redundant robots. The hybrid algorithm uses joint rate control first to do kinematic control with optimization for performance criteria through utilizing redundancy, then fix some special joints to let the robots are non-redundant, finally, Paden-Kahan Subproblems is utilized to solve residual joints. Therefore, we can get closed-form solutions of robots at position level. Comparing with the numerical iterative method that is a control algorithm with position level, hybrid algorithm is computation effective relatively. The effectiveness of the proposed algorithms has been demonstrated by a 7-DOF serial robot for the avoidance of joint angle limits.

KW - Kinematics control

KW - Redundant robots

KW - Screw theory

UR - https://www.scopus.com/pages/publications/15744374559

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DO - 10.1109/ICSMC.2004.1401230

M3 - 会议稿件

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SN - 0780385667

T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

SP - 4438

EP - 4443

BT - 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004

T2 - 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004

Y2 - 10 October 2004 through 13 October 2004

ER -

A hybrid algorithm for the kinematic control of redundant robots

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Keywords

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