General-Weighted Least-Norm Control for Redundant Manipulators
This paper presents the general-weighted least-norm (GWLN) method for the control of redundant manipulators by a new concept of virtual joints, which consist of the performance function of subtasks. The GWLN method enables the redundant manipulator to perform multiple subtasks with the assumption th...
Gespeichert in:
| Veröffentlicht in: | IEEE transactions on robotics 2010-08, Vol.26 (4), p.660-669 |
|---|---|
| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 669 |
|---|---|
| container_issue | 4 |
| container_start_page | 660 |
| container_title | IEEE transactions on robotics |
| container_volume | 26 |
| creator | Xiang, J Zhong, C Wei, W |
| description | This paper presents the general-weighted least-norm (GWLN) method for the control of redundant manipulators by a new concept of virtual joints, which consist of the performance function of subtasks. The GWLN method enables the redundant manipulator to perform multiple subtasks with the assumption that all the subtasks can be represented by the inequalities as the joint limits avoidance subtask. The number of subtasks to be coped with might be even larger than the number of joints if they do not happen simultaneously. The simulations in contrast to the traditional gradient projection method (GPM) and the recent directional GPM have been made to manifest the advantages of the proposed method. An experiment on the seven-degree-of-freedom redundant manipulator illustrates the good performance for tracking a given trajectory of end-effector position, while both guaranteeing the obstacle free and not violating the joint limits. |
| doi_str_mv | 10.1109/TRO.2010.2050655 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_RIE</sourceid><recordid>TN_cdi_proquest_miscellaneous_787234191</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>5487366</ieee_id><sourcerecordid>787234191</sourcerecordid><originalsourceid>FETCH-LOGICAL-c418t-9cd4438e280168cb508eeff27cd10f122808431523fd1a0821bec50b17b9e2db3</originalsourceid><addsrcrecordid>eNpdkM1Lw0AQxYMoqNW74CUI4il1Zj-SzUWQolWoCqJ4XDabiaak2bqbHPzv3dLiwdN8_d5jeElyhjBFhPL67fVlyiBODCTkUu4lR1gKzEDkaj_2UrKMQ6kOk-MQlgBMlMCPkps59eRNl31Q-_k1UJ0uyIQhe3Z-lc5cP3jXpY3z6SvVY1-bfkifTN-ux84MzoeT5KAxXaDTXZ0k7_d3b7OHbPEyf5zdLjIrUA1ZaWshuCKmAHNlKwmKqGlYYWuEBlncK8FRMt7UaEAxrMhKqLCoSmJ1xSfJ1dZ37d33SGHQqzZY6jrTkxuDLlTBuMASI3nxj1y60ffxOV0IpYTAoogQbCHrXQieGr327cr4H42gN3HqGKfexKl3cUbJ5c7XBGu6xpvetuFPxzhudCJy51uuJaK_sxSq4HnOfwFpCHwF</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>748844177</pqid></control><display><type>article</type><title>General-Weighted Least-Norm Control for Redundant Manipulators</title><source>IEEE Electronic Library (IEL)</source><creator>Xiang, J ; Zhong, C ; Wei, W</creator><creatorcontrib>Xiang, J ; Zhong, C ; Wei, W</creatorcontrib><description>This paper presents the general-weighted least-norm (GWLN) method for the control of redundant manipulators by a new concept of virtual joints, which consist of the performance function of subtasks. The GWLN method enables the redundant manipulator to perform multiple subtasks with the assumption that all the subtasks can be represented by the inequalities as the joint limits avoidance subtask. The number of subtasks to be coped with might be even larger than the number of joints if they do not happen simultaneously. The simulations in contrast to the traditional gradient projection method (GPM) and the recent directional GPM have been made to manifest the advantages of the proposed method. An experiment on the seven-degree-of-freedom redundant manipulator illustrates the good performance for tracking a given trajectory of end-effector position, while both guaranteeing the obstacle free and not violating the joint limits.</description><identifier>ISSN: 1552-3098</identifier><identifier>EISSN: 1941-0468</identifier><identifier>DOI: 10.1109/TRO.2010.2050655</identifier><identifier>CODEN: ITREAE</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Applied sciences ; Avoidance ; Computer science; control theory; systems ; Control systems ; Control theory. Systems ; Cost function ; Design engineering ; Exact sciences and technology ; General-weighted least-norm (GWLN) method ; Inequalities ; Jacobian matrices ; Manipulators ; multiple subtasks ; Null space ; Obstacles ; Projection ; Redundancy ; Redundant ; redundant manipulators ; Reliability engineering ; Robot arms ; Robot kinematics ; Robotics ; Simulation ; Systems engineering and theory ; Tracking ; Trajectory ; virtual joints</subject><ispartof>IEEE transactions on robotics, 2010-08, Vol.26 (4), p.660-669</ispartof><rights>2015 INIST-CNRS</rights><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Aug 2010</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c418t-9cd4438e280168cb508eeff27cd10f122808431523fd1a0821bec50b17b9e2db3</citedby><cites>FETCH-LOGICAL-c418t-9cd4438e280168cb508eeff27cd10f122808431523fd1a0821bec50b17b9e2db3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5487366$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,777,781,793,27905,27906,54739</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5487366$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=23111094$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Xiang, J</creatorcontrib><creatorcontrib>Zhong, C</creatorcontrib><creatorcontrib>Wei, W</creatorcontrib><title>General-Weighted Least-Norm Control for Redundant Manipulators</title><title>IEEE transactions on robotics</title><addtitle>TRO</addtitle><description>This paper presents the general-weighted least-norm (GWLN) method for the control of redundant manipulators by a new concept of virtual joints, which consist of the performance function of subtasks. The GWLN method enables the redundant manipulator to perform multiple subtasks with the assumption that all the subtasks can be represented by the inequalities as the joint limits avoidance subtask. The number of subtasks to be coped with might be even larger than the number of joints if they do not happen simultaneously. The simulations in contrast to the traditional gradient projection method (GPM) and the recent directional GPM have been made to manifest the advantages of the proposed method. An experiment on the seven-degree-of-freedom redundant manipulator illustrates the good performance for tracking a given trajectory of end-effector position, while both guaranteeing the obstacle free and not violating the joint limits.</description><subject>Applied sciences</subject><subject>Avoidance</subject><subject>Computer science; control theory; systems</subject><subject>Control systems</subject><subject>Control theory. Systems</subject><subject>Cost function</subject><subject>Design engineering</subject><subject>Exact sciences and technology</subject><subject>General-weighted least-norm (GWLN) method</subject><subject>Inequalities</subject><subject>Jacobian matrices</subject><subject>Manipulators</subject><subject>multiple subtasks</subject><subject>Null space</subject><subject>Obstacles</subject><subject>Projection</subject><subject>Redundancy</subject><subject>Redundant</subject><subject>redundant manipulators</subject><subject>Reliability engineering</subject><subject>Robot arms</subject><subject>Robot kinematics</subject><subject>Robotics</subject><subject>Simulation</subject><subject>Systems engineering and theory</subject><subject>Tracking</subject><subject>Trajectory</subject><subject>virtual joints</subject><issn>1552-3098</issn><issn>1941-0468</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2010</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkM1Lw0AQxYMoqNW74CUI4il1Zj-SzUWQolWoCqJ4XDabiaak2bqbHPzv3dLiwdN8_d5jeElyhjBFhPL67fVlyiBODCTkUu4lR1gKzEDkaj_2UrKMQ6kOk-MQlgBMlMCPkps59eRNl31Q-_k1UJ0uyIQhe3Z-lc5cP3jXpY3z6SvVY1-bfkifTN-ux84MzoeT5KAxXaDTXZ0k7_d3b7OHbPEyf5zdLjIrUA1ZaWshuCKmAHNlKwmKqGlYYWuEBlncK8FRMt7UaEAxrMhKqLCoSmJ1xSfJ1dZ37d33SGHQqzZY6jrTkxuDLlTBuMASI3nxj1y60ffxOV0IpYTAoogQbCHrXQieGr327cr4H42gN3HqGKfexKl3cUbJ5c7XBGu6xpvetuFPxzhudCJy51uuJaK_sxSq4HnOfwFpCHwF</recordid><startdate>20100801</startdate><enddate>20100801</enddate><creator>Xiang, J</creator><creator>Zhong, C</creator><creator>Wei, W</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>F28</scope></search><sort><creationdate>20100801</creationdate><title>General-Weighted Least-Norm Control for Redundant Manipulators</title><author>Xiang, J ; Zhong, C ; Wei, W</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c418t-9cd4438e280168cb508eeff27cd10f122808431523fd1a0821bec50b17b9e2db3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Applied sciences</topic><topic>Avoidance</topic><topic>Computer science; control theory; systems</topic><topic>Control systems</topic><topic>Control theory. Systems</topic><topic>Cost function</topic><topic>Design engineering</topic><topic>Exact sciences and technology</topic><topic>General-weighted least-norm (GWLN) method</topic><topic>Inequalities</topic><topic>Jacobian matrices</topic><topic>Manipulators</topic><topic>multiple subtasks</topic><topic>Null space</topic><topic>Obstacles</topic><topic>Projection</topic><topic>Redundancy</topic><topic>Redundant</topic><topic>redundant manipulators</topic><topic>Reliability engineering</topic><topic>Robot arms</topic><topic>Robot kinematics</topic><topic>Robotics</topic><topic>Simulation</topic><topic>Systems engineering and theory</topic><topic>Tracking</topic><topic>Trajectory</topic><topic>virtual joints</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Xiang, J</creatorcontrib><creatorcontrib>Zhong, C</creatorcontrib><creatorcontrib>Wei, W</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE transactions on robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Xiang, J</au><au>Zhong, C</au><au>Wei, W</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>General-Weighted Least-Norm Control for Redundant Manipulators</atitle><jtitle>IEEE transactions on robotics</jtitle><stitle>TRO</stitle><date>2010-08-01</date><risdate>2010</risdate><volume>26</volume><issue>4</issue><spage>660</spage><epage>669</epage><pages>660-669</pages><issn>1552-3098</issn><eissn>1941-0468</eissn><coden>ITREAE</coden><abstract>This paper presents the general-weighted least-norm (GWLN) method for the control of redundant manipulators by a new concept of virtual joints, which consist of the performance function of subtasks. The GWLN method enables the redundant manipulator to perform multiple subtasks with the assumption that all the subtasks can be represented by the inequalities as the joint limits avoidance subtask. The number of subtasks to be coped with might be even larger than the number of joints if they do not happen simultaneously. The simulations in contrast to the traditional gradient projection method (GPM) and the recent directional GPM have been made to manifest the advantages of the proposed method. An experiment on the seven-degree-of-freedom redundant manipulator illustrates the good performance for tracking a given trajectory of end-effector position, while both guaranteeing the obstacle free and not violating the joint limits.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TRO.2010.2050655</doi><tpages>10</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1552-3098 |
| ispartof | IEEE transactions on robotics, 2010-08, Vol.26 (4), p.660-669 |
| issn | 1552-3098 1941-0468 |
| language | eng |
| recordid | cdi_proquest_miscellaneous_787234191 |
| source | IEEE Electronic Library (IEL) |
| subjects | Applied sciences Avoidance Computer science control theory systems Control systems Control theory. Systems Cost function Design engineering Exact sciences and technology General-weighted least-norm (GWLN) method Inequalities Jacobian matrices Manipulators multiple subtasks Null space Obstacles Projection Redundancy Redundant redundant manipulators Reliability engineering Robot arms Robot kinematics Robotics Simulation Systems engineering and theory Tracking Trajectory virtual joints |
| title | General-Weighted Least-Norm Control for Redundant Manipulators |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-19T16%3A39%3A32IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_RIE&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=General-Weighted%20Least-Norm%20Control%20for%20Redundant%20Manipulators&rft.jtitle=IEEE%20transactions%20on%20robotics&rft.au=Xiang,%20J&rft.date=2010-08-01&rft.volume=26&rft.issue=4&rft.spage=660&rft.epage=669&rft.pages=660-669&rft.issn=1552-3098&rft.eissn=1941-0468&rft.coden=ITREAE&rft_id=info:doi/10.1109/TRO.2010.2050655&rft_dat=%3Cproquest_RIE%3E787234191%3C/proquest_RIE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=748844177&rft_id=info:pmid/&rft_ieee_id=5487366&rfr_iscdi=true |