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|Title:||A unified quadratic-programming-based dynamical system approach to joint torque optimization of physically constrained redundant manipulators|
|Authors:||Zhang, Y. |
|Citation:||Zhang, Y., Ge, S.S., Lee, T.H. (2004-10). A unified quadratic-programming-based dynamical system approach to joint torque optimization of physically constrained redundant manipulators. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 34 (5) : 2126-2132. ScholarBank@NUS Repository. https://doi.org/10.1109/TSMCB.2004.830347|
|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. © 2004 IEEE.|
|Source Title:||IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics|
|Appears in Collections:||Staff Publications|
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