A unified quadratic-programming-based dynamical system approach to joint torque optimization of physically constrained redundant manipulators

Authors:
Yunong Zhang;S. S. Ge;Tong Heng Lee
Affiliations:
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore;-;-
Venue:
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Year:
2004

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Abstract

In this paper, for joint torque optimization of redundant manipulators subject to physical constraints, we show that velocity-level and acceleration-level redundancy-resolution schemes both can be formulated as a quadratic programming (QP) problem subject to equality and inequality/bound constraints. To solve this QP problem online, a primal-dual dynamical system solver is further presented based on linear variational inequalities. Compared to previous researches, the presented QP-solver has simple piecewise-linear dynamics, does not entail real-time matrix inversion, and could also provide joint-acceleration information for manipulator torque control in the velocity-level redundancy-resolution schemes. The proposed QP-based dynamical system approach is simulated based on the PUMA560 robot arm with efficiency and effectiveness demonstrated.