Abstract

In this paper, the robot coordination system is composed of a number of redundant manipulators. An optimization model is formulated as a convex problem with globally coupled constraints, which includes equality constraints derived for path tracking, inequality constraints derived for obstacle avoidance, and convex sets built for joint physical limits. A novel distributed neurodynamic-based algorithm is developed for solving the complex problem in real time, so that there is no need for having a center coordinator in the robot system. To verify the established model and the developed algorithm, a two redundant manipulators system is simulated to carry a rigid object following desired trajectories with obstacles considered.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.