Two Acceleration-Layer Configuration Amendment Schemes of Redundant Robot Arms Based on Zhang Neurodynamics Equivalency

Two Acceleration-Layer Configuration Amendment Schemes of Redundant Robot Arms Based on Zhang Neurodynamics Equivalency

Blog Article

Two innovative acceleration-layer configuration amendment (CA) schemes are proposed to achieve the CA of constrained redundant robot arms.Specifically, by applying the Zhang neurodynamics equivalency (ZNE) method, an acceleration-layer CA performance indicator is derived theoretically.To obtain a unified-layer inequality constraint by transforming from angle-layer and velocity-layer constraints to acceleration-layer constraints, five theorems and three corollaries are theoretically derived and rigorously proved.Then, together with the unified gift cards acceleration-layer bound constraint, an enhanced acceleration-layer CA scheme specially considering three-layer time-variant physical limits is proposed, and a simplified acceleration-layer CA scheme considering three-layer time-invariant physical limits is also proposed.

The proposed CA schemes are finally formulated in the form of standard quadratic programming and are solved by a projection neurodynamics solver.Moreover, comparative simulative experiments based on a four-link planar arm and a UR3 spatial arm are performed to verify the efficacy and superiority of the proposed CA schemes.At last, physical experiments are conducted on a Gastrointestinal - Laxatives real Kinova Jaco2 arm to substantiate the practicability of the proposed CA schemes.