Cooperative Motion Generation in a Distributed Network of Redundant Robot Manipulators With Noises

摘要

In this paper, a distributed scheme is proposed for the cooperative motion generation in a distributed network of multiple redundant manipulators. The proposed scheme can simultaneously achieve the specified primary task to reach global cooperation under limited communications among manipulators and optimality in terms of a specified optimization index of redundant robot manipulators. The proposed distributed scheme is reformulated as a quadratic program (QP). To inherently suppress noises originating from communication interferences or computational errors, a noise-tolerant zeroing neural network (NTZNN) is constructed to solve the QP problem online. Then, theoretical analyses show that, without noise, the proposed distributed scheme is able to execute a given task with exponentially convergent position errors. Moreover, in the presence of noise, the proposed distributed scheme with the aid of NTZNN model has a satisfactory performance. Furthermore, simulations and comparisons based on PUMA560 redundant robot manipulators substantiate the effectiveness and accuracy of the proposed distributed scheme with the aid of NTZNN model.