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Different-Level Simultaneous Minimization with Aid of Ma Equivalence for Robotic Redundancy Resolution

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Advances in Neural Networks – ISNN 2014 (ISNN 2014)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 8866))

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Abstract

In this paper, with the aid of Ma equivalence (ME), a different-level simultaneous minimization (DLSM) scheme is proposed and investigated for robotic redundancy resolution. Such a DLSM scheme, combining the minimum kinetic energy (MKE) and minimum acceleration norm (MAN) solutions via a weighting factor, can prevent the occurrence of relatively high joint velocity/acceleration and can guarantee the final joint velocity of motion to be near zero. Simulation results based on PUMA560 robot manipulator further substantiate the efficacy and flexibility of the proposed DLSM scheme on robotic redundancy resolution.

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Author information

Authors and Affiliations

  1. School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, 510006, China

    Binbin Qiu, Dongsheng Guo, Hongzhou Tan, Zhi Yang & Yunong Zhang

  2. SYSU-CMU Shunde International Joint Research Institute, Shunde, 528300, China

    Binbin Qiu, Dongsheng Guo, Hongzhou Tan, Zhi Yang & Yunong Zhang

  3. Key Laboratory of Autonomous Systems and Networked Control, Ministry of Education, Guangzhou, 510640, China

    Binbin Qiu, Dongsheng Guo & Yunong Zhang

Authors
  1. Binbin Qiu
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  2. Dongsheng Guo
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  3. Hongzhou Tan
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  4. Zhi Yang
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  5. Yunong Zhang
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Corresponding author

Correspondence to Yunong Zhang .

Editor information

Editors and Affiliations

  1. Wuhan, China

    Zhigang Zeng

  2. University of Macau, Macau, Macao

    Yangmin Li

  3. The Chinese University of Hong Kong, Hong Kong, Hong Kong, Hong Kong SAR

    Irwin King

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Qiu, B., Guo, D., Tan, H., Yang, Z., Zhang, Y. (2014). Different-Level Simultaneous Minimization with Aid of Ma Equivalence for Robotic Redundancy Resolution. In: Zeng, Z., Li, Y., King, I. (eds) Advances in Neural Networks – ISNN 2014. ISNN 2014. Lecture Notes in Computer Science(), vol 8866. Springer, Cham. https://doi.org/10.1007/978-3-319-12436-0_48

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  • DOI: https://doi.org/10.1007/978-3-319-12436-0_48

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-12435-3

  • Online ISBN: 978-3-319-12436-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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