New Disturbance Rejection Constraint for Redundant Robot Manipulators: An Optimization Perspective

doi:10.1109/TII.2019.2930685

	New Disturbance Rejection Constraint for Redundant Robot Manipulators: An Optimization Perspective
	Chen, Dechao 4,5; Li, Shuai 2; Wu, Qing 4; Luo, Xin 1,3
刊名	IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
	2020-04-01
卷号	16 期号:4 页码:2221-2232
关键词	Manipulators Optimization Three-dimensional displays Robustness Neural networks Task analysis Dynamical quadratic programming (DQP) hybrid multiple objectives robustness redundant robot manipulators time-varying disturbances
ISSN号	1551-3203
DOI	10.1109/TII.2019.2930685
通讯作者	Li, Shuai(shuaili@ieee.org)
英文摘要	Due to the property of multiple solutions, redundant robot manipulators are usually required to simultaneously achieve multiple objectives in complex applications. The research of robustness for scheme formulation and optimization becomes an increasingly important issue for motion planning of redundant robot manipulators. From the perspective of optimization, a robust hybrid multiobjective (RHMO) scheme with a new disturbance rejection constraint is proposed in this article to achieve simultaneously four objectives together with the suppression of external time-varying disturbances. Theoretical results on the property of disturbance rejection are shown to confirm the effectiveness and robustness of the proposed RHMO scheme with a new disturbance rejection constraint. The RHMO scheme is then reformulated as dynamical quadratic programming with its solution found via the piecewise-linear projection equation neural network. Numerical experiments, tests, and comparisons on the basis of a PA10 manipulator verify the effectiveness, robustness, and superiority of the RHMO scheme with the new constraint for the motion planning and optimization of redundant robot manipulators against time-varying disturbances.
资助项目	National Natural Science Foundation of China[61401385] ; National Natural Science Foundation of China[61702146]
WOS研究方向	Automation & Control Systems ; Computer Science ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000510901000006
内容类型	期刊论文
源URL	[http://119.78.100.138/handle/2HOD01W0/9866]
专题	中国科学院重庆绿色智能技术研究院
通讯作者	Li, Shuai
作者单位	1.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing Key Lab Big Data & Intelligent Comp, Chongqing 400714, Peoples R China 2.Swansea Univ, Coll Engn, Swansea SA1 8EN, W Glam, Wales 3.Chinese Acad Sci, Chongqing Engn Res Ctr Big Data Applicat Smart Ci, Chongqing 400714, Peoples R China 4.Hangzhou Dianzi Univ, Sch Comp Sci & Technol, Hangzhou 310018, Peoples R China 5.Hong Kong Polytech Univ, Dept Comp, Hung Hom, Kowloon, Hong Kong, Peoples R China
推荐引用方式 GB/T 7714	Chen, Dechao,Li, Shuai,Wu, Qing,et al. New Disturbance Rejection Constraint for Redundant Robot Manipulators: An Optimization Perspective[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2020,16(4):2221-2232.
APA	Chen, Dechao,Li, Shuai,Wu, Qing,&Luo, Xin.(2020).New Disturbance Rejection Constraint for Redundant Robot Manipulators: An Optimization Perspective.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,16(4),2221-2232.
MLA	Chen, Dechao,et al."New Disturbance Rejection Constraint for Redundant Robot Manipulators: An Optimization Perspective".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 16.4(2020):2221-2232.