Analysis, Verification and Comparison on Feedback‐Aided MA Equivalence and Zhang Equivalency of Minimum‐Kinetic‐Energy Type for Kinematic Control of Redundant Robot Manipulators

摘要

Abstract By following and generalizing Ma et al. 's inspiring work and Zhang et al. 's inspiring work, this paper proposes and investigates three kinds of equivalent relationships with error‐feedback information incorporated for the minimum‐kinetic‐energy (MKE) redundancy resolution. Specifically, these three equivalent relationships are divided into two big classes in terms of scheme formulations: one is termed MKE‐type Ma equivalence (MKE‐ME); the other is MKE‐type Zhang equivalency (MKE‐ZE), which can be further subdivided into MKE‐ZE‐I and MKE‐ZE‐II. Also, the equivalent analyses as well as the primary distinctions about three such equivalent relationships are presented. The simulation results based on a PUMA560 robot manipulator and a three‐link planar robot manipulator not only verify the efficacy of the corresponding velocity‐level and acceleration‐level schemes of MKE‐ME, MKE‐ZE‐I and MKE‐ZE‐II, but also substantiate their reasonableness and effectiveness of these three equivalent relationships. More importantly, the comparative numerical results show their respective characteristics and advantages for kinematic control of redundant robot manipulators.