Obstacle and singularity avoidance for kinematically redundant manipulators based on neurodynamic optimization

Panpan Zhang, Zheng Yan, Jun Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

With wide applications of kinematically redundant manipulators in robotics, obstacle and singularity avoidance emerge as critical issues to be addressed. Correspondingly, three problems have to be considered, including the determination of critical points on a given manipulator, the computation of joint velocities using inverse kinematics, and the analysis of singularity caused by configurations of manipulators. In this paper, these tasks are formulated as a convex quadratic programming (QP) subject to equality and inequality constraints with time-varying parameters where physical constraints such as joint physical limits are also incorporated directly into the formulation. To solve the QP problem in real time, a recurrent neural network called the improved dual neural network is applied, which has lower structural complexity compared with existing neural networks for solving this particular problem. The effectiveness of the proposed approaches is demonstrated by simulation results based on the Mitsubishi PA10-7C manipulator.

Original languageEnglish
Title of host publication5th International Conference on Intelligent Control and Information Processing, ICICIP 2014 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages460-465
Number of pages6
ISBN (Electronic)9781479936489
DOIs
Publication statusPublished - 14 Jan 2015
Externally publishedYes
Event5th International Conference on Intelligent Control and Information Processing, ICICIP 2014 - Dalian, Liaoning, China
Duration: 18 Aug 201420 Aug 2014

Publication series

Name5th International Conference on Intelligent Control and Information Processing, ICICIP 2014 - Proceedings

Conference

Conference5th International Conference on Intelligent Control and Information Processing, ICICIP 2014
Country/TerritoryChina
CityDalian, Liaoning
Period18/08/1420/08/14

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