New Kinematic Control Scheme for Redundant Robotic Manipulators Perturbed by Harmonic Noise

摘要

Kinematic control is one of the fundamental issues in the study of redundant robotic manipulators, and various schemes that utilize the pseudoinverse of the Jacobian have been crafted in this field. However, these schemes may be ineffective due to the lack of suppressing additive noise, especially the harmonic noise widely encountered in practice. This article proposes a new kinematic control scheme for redundant robotic manipulators affected by harmonic noise, aiming to overcome the identified limitations. Such a scheme, which incorporates the adaptive learning mechanism based on harmonic frequency, can simulate the harmonic noise, suppress its disturbance, and eventually realize the effective control purpose. It is then theoretically proven that the Cartesian error generated by the proposed scheme exhibits the convergence property, thus guaranteeing the control performance on redundant robotic manipulators even in the presence of harmonic noise. Simulation and experiment results under PA10 and Panda robotic manipulators further verify the efficacy and superiority of the proposed kinematic control scheme.