Abstract
Repetitive path planning (RPP) plays an important role in the operation of redundant robot manipulators. In this study, we investigate a new discrete-time RPP scheme depicted in the pseudoinverse-type formulation for redundant robot manipulators. Such a scheme is derived from the discretization of the previous continuous-time RPP scheme using a special numerical difference formula. Theoretical analysis shows that the proposed RPP scheme has the property of cube pattern in the end-effector planning accuracy. On the basis of a PUMA560 robot manipulator with different examples, comparative simulation results are presented to demonstrate the effectiveness and superiority of the proposed RPP scheme.
Highlights
Robot manipulators have recently become a significant part of various fields [1]–[5]
An adaptive projection neural network was designed by Zhang et al [7] for the path planning of redundant robot manipulators with unknown physical parameters
In this study, the Repetitive path planning (RPP) of redundant robot manipulators is further investigated by proposing the new discrete-time RPP scheme (8)
Summary
Robot manipulators have recently become a significant part of various fields [1]–[5]. Being different from these pseudoinversetype schemes, many RPP schemes depicted in the formulation of quadratic programming (QP) were designed and investigated in the existing studies [14], [22]–[25] These QP-type RPP schemes were effectively applied to redundant robot manipulators. By using a special numerical difference formula [26] to discretize the existing continuous-time RPP scheme [18], a new discrete-time RPP scheme with the pseudoinverse-type formulation is proposed for redundant robot manipulators Such a scheme is theoretically proven to have the property of cube pattern in the end-effector planning accuracy. 1) In this study, the new RPP scheme is proposed and investigated for redundant robot manipulators, where the end-effector planning and joint-angle repeatability with sufficient accuracy can be guaranteed. To the best of our knowledge, this is the first time to provide the RPP scheme with cube end-effector planning accuracy for redundant robot manipulators
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