Bi-criteria optimal control of redundant robot manipulators using LVI-based primal-dual neural network

John Wiley and Sons
Publication Type:
Journal Article
Optimal Control Applications and Methods, 2010, 31 (3), pp. 213 - 229
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In this paper, a bi-criteria weighting scheme is proposed for the optimal motion control of redundant robot manipulators. To diminish the discontinuity phenomenon of pure infinity-norm velocity minimization (INVM) scheme, the proposed bi-criteria redundancy-resolution scheme combines the minimum kinetic energy scheme and the INVM scheme via a weighting factor. Joint physical limits such as joint limits and joint-velocity limits could also be incorporated simultaneously into the scheme formulation. The optimal kinematic control scheme can be reformulated finally as a quadratic programming (QP) problem. As the real-time QP solver, a primal-dual neural network (PDNN) based on linear variational inequalities (LVI) is developed as well with a simple piecewise-linear structure and global exponential convergence to optimal solutions. Since the LVI-based PDNN is matrix-inversion free, it has higher computational efficiency in comparison with dual neural networks. Computer simulations performed based on the PUMA560 manipulator illustrate the validity and advantages of such a bi-criteria neural optimal motion-control scheme for redundant robots
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