期刊
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
卷 68, 期 6, 页码 2062-2066出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCSII.2020.3045427
关键词
Manipulator; sparse optimization; kinematic control
资金
- National Key Research and Development Program of China [2017YFB1302304]
- National Natural Science Foundation of China [61603078]
This paper introduces a control method based on sparse optimization to guarantee task accuracy and reduce potential energy variations in manipulators during kinematic control. Simulation and experiment results demonstrate that the proposed control method effectively minimizes potential energy variations in manipulators.
Manipulators may often endure large-scale potential energy variations during kinematic control, producing unsafe oscillations of posture-hold effects. In this brief, for the first time, a sparse-optimization-based control method is proposed to simultaneously guarantee task accuracy and reduce potential energy variations for manipulators. The proposed control approach is formulated as an L-p-norm sparse optimization paradigm with the variation of the potential energy as the constraint. Simulation results on the n-link planar manipulator and experiment results on a 6-DoF manipulator system verify the proposed control method for accurate motion control tasks with potential energy minimization, with the average potential energy variations of the manipulators largely diminished with the sparse kinematic resolutions.
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