Jerk-level cyclic motion planning and control for constrained redundant robot manipulators using Zhang dynamics: Theoretics

摘要

In this paper, based on Zhang dynamics method (ZDM), a cyclic motion planning (CMP) scheme is developed to remedy the joint drift phenomenon of redundant robot manipulators constrained by joint physical limits. Unlike existing works resolved at velocity level or acceleration level, the scheme in this paper is resolved at jerk level. To achieve superior performance, the jerk-level CMP scheme is improved by the feedback control, which further leads to a jerk-level cyclic motion planning and control (CMPC) scheme. The cyclic motion criterion and the avoidance of joint physical limits (e.g., joint-angle, joint-velocity, joint-acceleration and joint-jerk limits) are both considered into the jerk- level CMP and CMPC schemes. More importantly, the correctness of the presented jerk-level schemes is guaranteed by the corresponding engineering-type theoretical analyses and results. Then, the jerk-level CMPC scheme is reformulated as a dynamical quadratic program (DQP) which can be solved by a piecewise-linear projection equation neural network (PLPENN), and also can be solved by a suitable numerical algorithm.