New P-type RMPC Scheme for Redundant Robot Manipulators in Noisy Environment

New P-type RMPC Scheme for Redundant Robot Manipulators in Noisy Environment

Repetitive motion planning and control (RMPC) is a significant issue in the research of redundant robot manipulators. Moreover, noise from rounding error, truncation error, and robot uncertainty is an important factor that greatly affects RMPC schemes. In this study, the RMPC of redundant robot mani...

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Veröffentlicht in:Robotica 2020-05, Vol.38 (5), p.775-786
Hauptverfasser: Li, Zexin, Xu, Feng, Guo, Dongsheng, Wang, Pingjiang, Yuan, Bo
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Sprache:eng
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Manipulators
Motion planning
Redundancy
Robot arms
Robots
Rounding
Truncation errors
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container_title Robotica
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creator Li, Zexin
Xu, Feng
Guo, Dongsheng
Wang, Pingjiang
Yuan, Bo
description Repetitive motion planning and control (RMPC) is a significant issue in the research of redundant robot manipulators. Moreover, noise from rounding error, truncation error, and robot uncertainty is an important factor that greatly affects RMPC schemes. In this study, the RMPC of redundant robot manipulators in a noisy environment is investigated. By incorporating the proportional and integral information of the desired path, a new RMPC scheme with pseudoinverse-type (P-type) formulation is proposed. Such a P-type RMPC scheme possesses the suppression of constant and bounded time-varying noises. Comparative simulation results based on a five-link robot manipulator and a PUMA560 robot manipulator are presented to further validate the effectiveness and superiority of the proposed P-type RMPC scheme over the previous one.
doi_str_mv 10.1017/S0263574719001036
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subjects Manipulators
Motion planning
Redundancy
Robot arms
Robots
Rounding
Truncation errors
title New P-type RMPC Scheme for Redundant Robot Manipulators in Noisy Environment
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