Acceleration-Level Cyclic-Motion Generation of Constrained Redundant Robots Tracking Different Paths

@article{Zhang2012AccelerationLevelCG,
  title={Acceleration-Level Cyclic-Motion Generation of Constrained Redundant Robots Tracking Different Paths},
  author={Zhijun Zhang and Yunong Zhang},
  journal={IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)},
  year={2012},
  volume={42},
  pages={1257-1269}
}
In this paper, a cyclic-motion generation (CMG) scheme at the acceleration level is proposed to remedy the joint-angle drift phenomenon of redundant robot manipulators which are controlled at the joint-acceleration level or torque level. To achieve this, a cyclic-motion criterion at the joint-acceleration level is exploited. This criterion, together with the joint-angle limits, joint-velocity limits, and joint-acceleration limits, is considered into the scheme formulation. In addition, the… CONTINUE READING
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