IEEE Trans Syst Man Cybern B Cybern. 2012 Aug;42(4):1257-69. doi: 10.1109/TSMCB.2012.2189003. Epub 2012 Apr 3.
In this paper, a cyclic-motion generation (CMG) scheme at the acceleration level is proposed to remedy the joint-angle drift phenomenon of redundant robot manipulators which are controlled at the joint-acceleration level or torque level. To achieve this, a cyclic-motion criterion at the joint-acceleration level is exploited. This criterion, together with the joint-angle limits, joint-velocity limits, and joint-acceleration limits, is considered into the scheme formulation. In addition, the neural-dynamic method of Zhang is employed to explain and analyze the effectiveness of the proposed criterion. Then, the scheme is reformulated as a quadratic program, which is solved by a primal-dual neural network. Furthermore, four tracking path simulations verify the effectiveness and accuracy of the proposed acceleration-level CMG scheme. Moreover, the comparisons between the proposed acceleration-level CMG scheme and the velocity-level scheme demonstrate that the former is safer and more applicable. The experiment on a physical robot system further verifies the physical realizability of the proposed acceleration-level CMG scheme.
本文提出了一种加速度级别的循环运动生成（CMG）方案，以纠正冗余机器人操纵器在关节加速度级别或扭矩级别控制时出现的关节角度漂移现象。为此，采用了关节加速度级别的循环运动准则。该准则与关节角度限制、关节速度限制和关节加速度限制一起被纳入方案制定中。此外，采用了张的神经动力学方法来解释和分析所提准则的有效性。然后，将该方案重新表述为一个二次规划问题，并通过原对偶神经网络求解。此外，四个跟踪路径仿真验证了所提加速度级CMG方案的有效性和准确性。而且，所提加速度级CMG方案与速度级方案的比较表明，前者更安全且更适用。在物理机器人系统上进行的实验进一步验证了所提加速度级CMG方案的物理可实现性。
