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	Online optimization scheme with dual-mode controller for redundancy-resolution with torque constraints
	Fang, Jian1; Zhao, Jianghai2; Mei, Tao2; Chen, Jian2
刊名	ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
	2016-08-01
卷号	40期号:40页码:44-54
关键词	Redundant Manipulator Dual-mode Optimal Controller Online Optimization Torque Constraints Knitro-based Qp Solver
DOI	10.1016/j.rcim.2016.01.004
文献子类	Article
英文摘要	In this paper, an online optimization scheme is proposed for the real time path-tracking control of the redundant robot manipulator. In the proposed scheme, the inequality constraints are extended to the torque level to avoid the torque saturation. Besides, a dual-mode optimal controller is used to yield a feasible input during each control period, to resolve the solution space decreasing problem. Then the scheme is formulated as a Quadratic Program (QP), the computationally efficient Knitro-Based solver is applied to remedy the inescapable redundancy-resolution problem. Furthermore, the comparisons based on the different path tracking simulations between the proposed method and the velocity-level schemes demonstrate that the former is safer and more applicable. The experiment on a physical robot system further verifies the physical realizability of the proposed method. (C) 2016 Elsevier Ltd. All rights reserved.
WOS关键词	ROBOT MANIPULATORS ; NEURAL-NETWORK ; INVERSE KINEMATICS ; OBSTACLE AVOIDANCE ; CONFIGURATION
WOS研究方向	Computer Science ; Engineering ; Robotics
语种	英语
WOS记录号	WOS:000373544400005
资助机构	National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; National Science and Technology Support Program(2015BAK06B02) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; National Science Foundation of China(51405470 ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469) ; 51405469)
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn/handle/334002/21208]
专题	合肥物质科学研究院_中科院合肥物质科学研究院先进制造技术研究所
作者单位	1.Univ Sci & Technol China, Sch Engn Sci, Dept Precis Machinery & Instrumentat, Hefei 230026, Anhui, Peoples R China 2.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg Technol, Beijing 100864, Peoples R China
推荐引用方式 GB/T 7714	Fang, Jian,Zhao, Jianghai,Mei, Tao,et al. Online optimization scheme with dual-mode controller for redundancy-resolution with torque constraints[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,2016,40(40):44-54.
APA	Fang, Jian,Zhao, Jianghai,Mei, Tao,&Chen, Jian.(2016).Online optimization scheme with dual-mode controller for redundancy-resolution with torque constraints.ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,40(40),44-54.
MLA	Fang, Jian,et al."Online optimization scheme with dual-mode controller for redundancy-resolution with torque constraints".ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 40.40(2016):44-54.

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