Feedback-Type MWVN Scheme and Its Acceleration-Level Equivalent Scheme Proved by Zhang Dynamics

摘要

Two quadratic programming (QP) based schemes aided with weighting matrices and error feedback, namely the feedback-type minimum-weighted-velocity-norm (FTMWVN) scheme and its acceleration-level scheme, are proposed in this paper for solving the redundancy-resolution (or say, inverse-kinematics) problem. Then, the equivalence between the velocity-level FTMWVN scheme and the acceleration-level scheme is proved via Zhang dynamics (ZD) method. Computer simulations performed on a PA10 redundant robot manipulator further demonstrate the efficacy of such two schemes. More importantly, simulation results show that the solutions of the two schemes fit well with each other (including their joint angles and joint velocities), i.e., the two different-level schemes can be equivalent in terms of their physical effects.