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Yunong Zhang - One of the best experts on this subject based on the ideXlab platform.
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IECON - Acceleration-level fault-tolerant scheme for redundant manipulator motion planning and control: Theoretics
IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017Co-Authors: Yunong Zhang, Huanchang Huang, Liangyu HeAbstract:In this paper, to achieve the fault-tolerant capability for redundant manipulators, a dimension-reduction method is presented and investigated at the Joint-Acceleration level. By incorporating such a dimension-reduction method and the limits of Joint angle, Joint velocity as well as Joint Acceleration (i.e., the physical constraints on Joints), an Acceleration fault-tolerant scheme for redundant manipulator motion planning and control (or say, motion-planning-and-control, MPaC) is thus proposed and investigated. The scheme is then reformulated as a quadratic program (QP) subject to equality and bound constraints. For the online solution of the proposed scheme, the PLPE (piecewise-linear projection equation) oriented numerical algorithm is adopted to obtain the final QP solver. The derived QP resulting from the proposed scheme combines the abilities of fault tolerance, Joints limits avoidance and repetitive motion, which can achieve the repetitive motion before and after the fault tolerance.
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Complete framework of jerk-level inverse-free solutions to inverse kinematics of redundant robot manipulators
2016 35th Chinese Control Conference (CCC), 2016Co-Authors: Yunong Zhang, Jiawei Luo, Hong-zhou TanAbstract:By applying the gradient dynamics (GD) and Zhang dynamics (ZD) to the motion planning and control for redundant robot manipulators at the Joint-jerk level, three novel types of inverse-free solutions, namely Z2G1 type, Z1G2 type and Z0G3 type, are thus proposed, developed and investigated in this paper. These solutions only need to calculate the transpose of Jacobian matrix rather than the complex pseudo-inverse of Jacobian matrix, more efficiently resolving the complicated time-varying inverse-kinematics (IK) problem for robot manipulators. Besides, the path-tracking applications based on a 4-link robot manipulator show that the manipulator's motion is pretty smooth, fully illustrating the effectiveness, accuracy and superiority of such inverse-free solutions. Moreover, it is the first time for the researchers to propose a relatively complete inverse-free solution framework at the Joint-jerk level. The proposed approaches can provide effective solutions to the motion planning and control at different levels (e.g., the Joint-velocity, Joint-Acceleration and Joint-jerk levels), having a wider application range and also obtaining a perfect tracking performance for redundant robot manipulators.
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dynamic design numerical solution and effective verification of Acceleration level obstacle avoidance scheme for robot manipulators
International Journal of Systems Science, 2016Co-Authors: Lin Xiao, Yunong ZhangAbstract:For avoiding obstacles and Joint physical constraints of robot manipulators, this paper proposes and investigates a novel obstacle avoidance scheme termed the Acceleration-level obstacle-avoidance scheme. The scheme is based on a new obstacle-avoidance criterion that is designed by using the gradient neural network approach for the first time. In addition, Joint physical constraints such as Joint-angle limits, Joint-velocity limits and Joint-Acceleration limits are incorporated into such a scheme, which is further reformulated as a quadratic programming QP. Two important ‘bridge’ theorems are established so that such a QP can be converted equivalently to a linear variational inequality and then equivalently to a piecewise-linear projection equation PLPE. A numerical algorithm based on a PLPE is thus developed and applied for an online solution of the resultant QP. Four path-tracking tasks based on the PA10 robot in the presence of point and window-shaped obstacles demonstrate and verify the effectiveness and accuracy of the Acceleration-level obstacle-avoidance scheme. Besides, the comparisons between the non-obstacle-avoidance and obstacle-avoidance results further validate the superiority of the proposed scheme.
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Application to Fixed-Base Robot RMP
Zhang Functions and Various Models, 2015Co-Authors: Yunong Zhang, Dongsheng GuoAbstract:In this chapter, the ZD approach presented in the previous chapters is applied to repetitive motion planning (RMP) of fixed-base redundant robot manipulators at the Joint-Acceleration level. Specifically, by introducing two different ZFs and by exploiting the ZD design formula, an Acceleration-level RMP performance index is proposed, developed, and investigated. The resultant RMP scheme, which incorporates Joint-angle, Joint-velocity and Joint-Acceleration limits, is further presented and investigated to remedy the Joint-angle drift phenomenon of fixed-base redundant robot manipulators. Such a scheme is then reformulated as a quadratic program, which is solved by a primal–dual neural network. With three path-tracking examples, simulation results based on PUMA560 robot manipulator substantiate well the effectiveness and accuracy of the proposed Acceleration-level RMP scheme, as well as show the application prospect of the presented ZD approach.
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Acceleration-Level Inequality-Based MAN Scheme for Obstacle Avoidance of Redundant Robot Manipulators
IEEE Transactions on Industrial Electronics, 2014Co-Authors: Dongsheng Guo, Yunong ZhangAbstract:In this paper, a new inequality-based criterion is proposed and investigated for obstacle avoidance of redundant robot manipulators at the Joint-Acceleration level. By incorporating such a dynamically updated inequality criterion and the Joint physical constraints (i.e., Joint-angle limits, Joint-velocity limits, and Joint-Acceleration limits), a novel minimum-Acceleration-norm (MAN) scheme is presented and investigated for robots' redundancy resolution. In addition, the resultant obstacle-avoidance MAN scheme resolved at the Joint-Acceleration level is reformulated as a general quadratic program (QP). Moreover, two important “Bridge” theorems are established, which show that such a QP problem can be equivalent to linear variational inequality (LVI) and then to piecewise-linear projection equation (PLPE). An LVI-based numerical method is thus developed and applied for online solution of the QP problem and the inequality-based obstacle-avoidance MAN scheme. Simulative results based on the PA10 robot manipulator in the presence of window-shaped and point obstacles further demonstrate the efficacy and superiority of the proposed Acceleration-level inequality-based MAN scheme for obstacle avoidance of redundant robot manipulators. In addition, experimental verification conducted on a practical six-link planar robot manipulator substantiates the effectiveness and physical realizability of the proposed obstacle-avoidance scheme.
Philippe Fraisse - One of the best experts on this subject based on the ideXlab platform.
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kinematic modeling and singularity treatment of steerable wheeled mobile robots with Joint Acceleration limits
International Conference on Robotics and Automation, 2016Co-Authors: Mohamed Sorour, Robin Passama, Andrea Cherubini, Philippe FraisseAbstract:Non-holonomic omnidirectional mobile robots have higher load carrying capacity than their holonomic counterparts. Once the steer Joint configuration is initialized, they can perform arbitrarily complex three-dimensional trajectories in the plane of motion and, as such, are more suitable for industrial contexts. However, their kinematic model presents representational and structural singularities, solutions to which must respect actuator performance limits. Recent research efforts have provided either simple restricting of the velocity space (among which few considered hardware limits) or complex non-restricting (no hardware limits considered) solutions. Most of these efforts are providing solutions at the kinematic control level. Instead, here we propose both a representational singularity free kinematic model, and a simple numeric treatment for the kinematic singularity. We further provide a method to tune the latter, to respect the actuator Acceleration limits. Thanks to its steer rate damping behavior, the method can be further extended, to respect Joint limits. Another benefit is the treatment of the singularity at the level of the kinematic model, which enhances real time capabilities. The developed method has been tested successfully on the Neobotix-MPO700 mobile robot and shown superior results as compared to the embedded controller.
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Kinematic Modeling and Singularity Treatment of Steerable Wheeled Mobile Robots with Joint Acceleration Limits
2016Co-Authors: Mohamed Sorour, Robin Passama, Andrea Cherubini, Philippe FraisseAbstract:Non-holonomic omnidirectional mobile robots have higher load carrying capacity than their holonomic counterparts. Once the steer Joint configuration is initialized, they can perform arbitrarily complex three-dimensional trajectories in the plane of motion and, as such, are more suitable for industrial contexts. However, their kinematic model presents representational and structural singularities, solutions to which must respect actuator performance limits. Recent research efforts have provided either simple restricting of the velocity space (among which few considered hardware limits) or complex non-restricting (no hardware limits considered) solutions. Most of these efforts are providing solutions at the kinematic control level. Instead, here we propose both a representational singularity free kinematic model, and a simple numeric treatment for the kinematic singularity. We further provide a method to tune the latter, to respect the actuator Acceleration limits. Thanks to its steer rate damping behavior, the method can be further extended, to respect Joint limits. Another benefit is the treatment of the singularity at the level of the kinematic model, which enhances real time capabilities. The developed method has been tested successfully on the Neobotix-MPO700 mobile robot and shown superior results as compared to the embedded controller. Index Terms—Wheeled mobile robots, Steerable wheels.
Dongsheng Guo - One of the best experts on this subject based on the ideXlab platform.
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Bi-criteria minimization with MWVN–INAM type for motion planning and control of redundant robot manipulators
Robotica, 2018Co-Authors: Dongsheng Guo, Bolin LiaoAbstract:This study proposes and investigates a new type of bi-criteria minimization (BCM) for the motion planning and control of redundant robot manipulators to address the discontinuity problem in the infinity-norm Acceleration minimization (INAM) scheme and to guarantee the final Joint velocity of motion to be approximate to zero. This new type is based on the combination of minimum weighted velocity norm (MWVN) and INAM criteria, and thus is called the MWVN–INAM–BCM scheme. In formulating such a scheme, Joint-angle, Joint-velocity, and Joint-Acceleration limits are incorporated. The proposed MWVN–INAM–BCM scheme is reformulated as a quadratic programming problem solved at the Joint-Acceleration level. Simulation results based on the PUMA560 robot manipulator validate the efficacy and applicability of the proposed MWVN–INAM–BCM scheme in robotic redundancy resolution. In addition, the physical realizability of the proposed scheme is verified in practical application based on a six-link planar robot manipulator.
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Application to Fixed-Base Robot RMP
Zhang Functions and Various Models, 2015Co-Authors: Yunong Zhang, Dongsheng GuoAbstract:In this chapter, the ZD approach presented in the previous chapters is applied to repetitive motion planning (RMP) of fixed-base redundant robot manipulators at the Joint-Acceleration level. Specifically, by introducing two different ZFs and by exploiting the ZD design formula, an Acceleration-level RMP performance index is proposed, developed, and investigated. The resultant RMP scheme, which incorporates Joint-angle, Joint-velocity and Joint-Acceleration limits, is further presented and investigated to remedy the Joint-angle drift phenomenon of fixed-base redundant robot manipulators. Such a scheme is then reformulated as a quadratic program, which is solved by a primal–dual neural network. With three path-tracking examples, simulation results based on PUMA560 robot manipulator substantiate well the effectiveness and accuracy of the proposed Acceleration-level RMP scheme, as well as show the application prospect of the presented ZD approach.
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Acceleration-Level Inequality-Based MAN Scheme for Obstacle Avoidance of Redundant Robot Manipulators
IEEE Transactions on Industrial Electronics, 2014Co-Authors: Dongsheng Guo, Yunong ZhangAbstract:In this paper, a new inequality-based criterion is proposed and investigated for obstacle avoidance of redundant robot manipulators at the Joint-Acceleration level. By incorporating such a dynamically updated inequality criterion and the Joint physical constraints (i.e., Joint-angle limits, Joint-velocity limits, and Joint-Acceleration limits), a novel minimum-Acceleration-norm (MAN) scheme is presented and investigated for robots' redundancy resolution. In addition, the resultant obstacle-avoidance MAN scheme resolved at the Joint-Acceleration level is reformulated as a general quadratic program (QP). Moreover, two important “Bridge” theorems are established, which show that such a QP problem can be equivalent to linear variational inequality (LVI) and then to piecewise-linear projection equation (PLPE). An LVI-based numerical method is thus developed and applied for online solution of the QP problem and the inequality-based obstacle-avoidance MAN scheme. Simulative results based on the PA10 robot manipulator in the presence of window-shaped and point obstacles further demonstrate the efficacy and superiority of the proposed Acceleration-level inequality-based MAN scheme for obstacle avoidance of redundant robot manipulators. In addition, experimental verification conducted on a practical six-link planar robot manipulator substantiates the effectiveness and physical realizability of the proposed obstacle-avoidance scheme.
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Simulation and Experimental Verification of Weighted Velocity and Acceleration Minimization for Robotic Redundancy Resolution
IEEE Transactions on Automation Science and Engineering, 2014Co-Authors: Dongsheng Guo, Yunong ZhangAbstract:This paper proposes and investigates a weighted velocity and Acceleration minimization scheme to prevent the occurrence of high Joint velocity and Joint Acceleration caused by the minimum Acceleration norm (MAN) scheme in redundant robot manipulators. The proposed scheme considers minimum kinetic energy (MKE) and MAN criterions via two weighting factors, thus guaranteeing the final Joint velocity of motion to be near zero, which is acceptable for engineering applications. Joint physical constraints (i.e., Joint angle limits, Joint velocity limits, and Joint Acceleration limits) are incorporated in the formulation of the proposed scheme. The proposed scheme is reformulated as a quadratic program and then calculated by using a numerical algorithm based on linear variational inequality. Computer simulation results of a PUMA560 robot manipulator verify the efficacy and flexibility of the proposed scheme for redundancy resolution in robot manipulators. Experimental verifications conducted on a six-link planar robot manipulator demonstrate the effectiveness and physical realizability of the proposed scheme.
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Different-Level Simultaneous Minimization of Joint-Velocity and Joint-Torque for Redundant Robot Manipulators
Journal of Intelligent and Robotic Systems, 2013Co-Authors: Yunong Zhang, Dongsheng GuoAbstract:In J Robot Syst 13(3):177---185 (1996), Ma proposed an efficient technique to stabilize local torque optimization solution of redundant manipulators, which prevents occurrence of high Joint-velocity and guarantees the final Joint-velocity to be near zero. To prevent the same problems, a different-level simultaneous minimization scheme is proposed in this paper for robotic redundancy resolution, which combines the minimum two-norm Joint-velocity and Joint-torque solutions via two weighting factors. Physical constraints such as Joint-angle limits, Joint-velocity limits and Joint-Acceleration limits are also taken into consideration in such a scheme-formulation. Moreover, the proposed different-level simultaneous minimization scheme is resolved at the Joint-Acceleration level and reformulated as a general quadratic program (QP). Computer-simulation results based on the PUMA560 robot manipulator performing different types of end-effector path-tracking tasks demonstrate the validity and advantage of the proposed different-level simultaneous minimization scheme. Furthermore, experimental verification conducted on a practical six-link planar robot manipulator substantiates the effectiveness and the physical realizability of the proposed scheme.
Mohamed Sorour - One of the best experts on this subject based on the ideXlab platform.
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kinematic modeling and singularity treatment of steerable wheeled mobile robots with Joint Acceleration limits
International Conference on Robotics and Automation, 2016Co-Authors: Mohamed Sorour, Robin Passama, Andrea Cherubini, Philippe FraisseAbstract:Non-holonomic omnidirectional mobile robots have higher load carrying capacity than their holonomic counterparts. Once the steer Joint configuration is initialized, they can perform arbitrarily complex three-dimensional trajectories in the plane of motion and, as such, are more suitable for industrial contexts. However, their kinematic model presents representational and structural singularities, solutions to which must respect actuator performance limits. Recent research efforts have provided either simple restricting of the velocity space (among which few considered hardware limits) or complex non-restricting (no hardware limits considered) solutions. Most of these efforts are providing solutions at the kinematic control level. Instead, here we propose both a representational singularity free kinematic model, and a simple numeric treatment for the kinematic singularity. We further provide a method to tune the latter, to respect the actuator Acceleration limits. Thanks to its steer rate damping behavior, the method can be further extended, to respect Joint limits. Another benefit is the treatment of the singularity at the level of the kinematic model, which enhances real time capabilities. The developed method has been tested successfully on the Neobotix-MPO700 mobile robot and shown superior results as compared to the embedded controller.
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Kinematic Modeling and Singularity Treatment of Steerable Wheeled Mobile Robots with Joint Acceleration Limits
2016Co-Authors: Mohamed Sorour, Robin Passama, Andrea Cherubini, Philippe FraisseAbstract:Non-holonomic omnidirectional mobile robots have higher load carrying capacity than their holonomic counterparts. Once the steer Joint configuration is initialized, they can perform arbitrarily complex three-dimensional trajectories in the plane of motion and, as such, are more suitable for industrial contexts. However, their kinematic model presents representational and structural singularities, solutions to which must respect actuator performance limits. Recent research efforts have provided either simple restricting of the velocity space (among which few considered hardware limits) or complex non-restricting (no hardware limits considered) solutions. Most of these efforts are providing solutions at the kinematic control level. Instead, here we propose both a representational singularity free kinematic model, and a simple numeric treatment for the kinematic singularity. We further provide a method to tune the latter, to respect the actuator Acceleration limits. Thanks to its steer rate damping behavior, the method can be further extended, to respect Joint limits. Another benefit is the treatment of the singularity at the level of the kinematic model, which enhances real time capabilities. The developed method has been tested successfully on the Neobotix-MPO700 mobile robot and shown superior results as compared to the embedded controller. Index Terms—Wheeled mobile robots, Steerable wheels.
Andrea Cherubini - One of the best experts on this subject based on the ideXlab platform.
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kinematic modeling and singularity treatment of steerable wheeled mobile robots with Joint Acceleration limits
International Conference on Robotics and Automation, 2016Co-Authors: Mohamed Sorour, Robin Passama, Andrea Cherubini, Philippe FraisseAbstract:Non-holonomic omnidirectional mobile robots have higher load carrying capacity than their holonomic counterparts. Once the steer Joint configuration is initialized, they can perform arbitrarily complex three-dimensional trajectories in the plane of motion and, as such, are more suitable for industrial contexts. However, their kinematic model presents representational and structural singularities, solutions to which must respect actuator performance limits. Recent research efforts have provided either simple restricting of the velocity space (among which few considered hardware limits) or complex non-restricting (no hardware limits considered) solutions. Most of these efforts are providing solutions at the kinematic control level. Instead, here we propose both a representational singularity free kinematic model, and a simple numeric treatment for the kinematic singularity. We further provide a method to tune the latter, to respect the actuator Acceleration limits. Thanks to its steer rate damping behavior, the method can be further extended, to respect Joint limits. Another benefit is the treatment of the singularity at the level of the kinematic model, which enhances real time capabilities. The developed method has been tested successfully on the Neobotix-MPO700 mobile robot and shown superior results as compared to the embedded controller.
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Kinematic Modeling and Singularity Treatment of Steerable Wheeled Mobile Robots with Joint Acceleration Limits
2016Co-Authors: Mohamed Sorour, Robin Passama, Andrea Cherubini, Philippe FraisseAbstract:Non-holonomic omnidirectional mobile robots have higher load carrying capacity than their holonomic counterparts. Once the steer Joint configuration is initialized, they can perform arbitrarily complex three-dimensional trajectories in the plane of motion and, as such, are more suitable for industrial contexts. However, their kinematic model presents representational and structural singularities, solutions to which must respect actuator performance limits. Recent research efforts have provided either simple restricting of the velocity space (among which few considered hardware limits) or complex non-restricting (no hardware limits considered) solutions. Most of these efforts are providing solutions at the kinematic control level. Instead, here we propose both a representational singularity free kinematic model, and a simple numeric treatment for the kinematic singularity. We further provide a method to tune the latter, to respect the actuator Acceleration limits. Thanks to its steer rate damping behavior, the method can be further extended, to respect Joint limits. Another benefit is the treatment of the singularity at the level of the kinematic model, which enhances real time capabilities. The developed method has been tested successfully on the Neobotix-MPO700 mobile robot and shown superior results as compared to the embedded controller. Index Terms—Wheeled mobile robots, Steerable wheels.
