Tang Zanyu, Mao Mingzhi, Zhang Yunong, Tan Ning
School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou 510006, China.
School of Computer Science and Engineering, Jishou University, Jishou 416000, China.
Biomimetics (Basel). 2024 Jul 17;9(7):435. doi: 10.3390/biomimetics9070435.
Two innovative acceleration-layer configuration amendment (CA) schemes are proposed to achieve the CA of constrained redundant robot arms. Specifically, by applying the Zhang neurodynamics equivalency (ZNE) method, an acceleration-layer CA performance indicator is derived theoretically. To obtain a unified-layer inequality constraint by transforming from angle-layer and velocity-layer constraints to acceleration-layer constraints, five theorems and three corollaries are theoretically derived and rigorously proved. Then, together with the unified acceleration-layer bound constraint, an enhanced acceleration-layer CA scheme specially considering three-layer time-variant physical limits is proposed, and a simplified acceleration-layer CA scheme considering three-layer time-invariant physical limits is also proposed. The proposed CA schemes are finally formulated in the form of standard quadratic programming and are solved by a projection neurodynamics solver. Moreover, comparative simulative experiments based on a four-link planar arm and a UR3 spatial arm are performed to verify the efficacy and superiority of the proposed CA schemes. At last, physical experiments are conducted on a real Kinova Jaco2 arm to substantiate the practicability of the proposed CA schemes.
提出了两种创新的加速度层配置修正（CA）方案，以实现受限冗余机器人手臂的CA。具体而言，通过应用张神经动力学等效性（ZNE）方法，从理论上推导了加速度层CA性能指标。为了通过从角度层和速度层约束转换为加速度层约束来获得统一层不等式约束，从理论上推导并严格证明了五个定理和三个推论。然后，结合统一的加速度层边界约束，提出了一种特别考虑三层时变物理极限的增强型加速度层CA方案，还提出了一种考虑三层时不变物理极限的简化加速度层CA方案。所提出的CA方案最终以标准二次规划的形式制定，并由投影神经动力学求解器求解。此外，基于四连杆平面臂和UR3空间臂进行了对比模拟实验，以验证所提出的CA方案的有效性和优越性。最后，在真实的Kinova Jaco2手臂上进行了物理实验，以证实所提出的CA方案的实用性。
