Self-motion planning of functionally redundant PUMA560 manipulator via quadratic-program formulation and solution

摘要

In this paper, a scheme is proposed and investigated for the self-motion planning of PUMA560 robot arm, a functionally redundant manipulator (if the end-effector positioning is only considered). As joint physical constraints always exist in robot arms, we incorporate both the joint angle limits and joint velocity limits into the self-motion planning scheme as well. This scheme is formulated as a quadratic program (QP) subject to equality and bound constraints, and then solved online by using the LVI-based primal-dual neural network (LVI-PDNN). Computer simulations based on PUMA560 manipulator substantiate the efficacy of this self-motion planning scheme.