A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application

Complexity 2019:1-16 (2019)

Authors
Y Jiang
King's College London
Abstract
For repeatable motion of redundant mobile manipulators, the flexible base platform and the redundant manipulator have to be returned to the desired initial position simultaneously after completing the given tasks. To remedy deviations between initial position and desired position of each kinematic joint angle, a special kind of repeatable optimization for kinematic energy minimization based on terminal-time Zhang neural network with finite-time convergence is proposed for inverse kinematics of mobile manipulators. It takes the advantages that each joint of the manipulator is required to return to the desired initial position not considering the initial orientation of itself for realizing repeatable kinematics control. Unlike the existed training methods, such an optimization of kinematic energy scheme based on TTZNN can not only reduce the convergent position error of each joint to zero in finite time, but also improve the convergent precision. Theoretical analysis and verifications show that the proposed optimal kinematic energy scheme accelerates the convergent rate, which is tended to be applied in practical robot kinematics. Simulation results on the manipulator with three mobile wheels substantiate the timeliness and repetitiveness of the proposed optimization scheme.
Keywords No keywords specified (fix it)
Categories No categories specified
(categorize this paper)
DOI 10.1155/2019/8642027
Options
Edit this record
Mark as duplicate
Export citation
Find it on Scholar
Request removal from index
Revision history

Download options

Our Archive


Upload a copy of this paper     Check publisher's policy     Papers currently archived: 42,401
External links

Setup an account with your affiliations in order to access resources via your University's proxy server
Configure custom proxy (use this if your affiliation does not provide a proxy)
Through your library

References found in this work BETA

Add more references

Citations of this work BETA

No citations found.

Add more citations

Similar books and articles

An Improved Measurement Variable Estimation Model for Positioning Mobile Robot.Junsuo Qu, Leichao Hou, Ruijun Zhang, Zhiwei Zhang, Qipeng Zhang & Kaiming Ting - 2019 - Interaction Studies: Social Behaviour and Communication in Biological and Artificial Systems 20 (1):78-101.
Human-Robot Collaboration for Surface Treatment Tasks.Luis Gracia, J. Ernesto Solanes, Pau Muñoz-Benavent, Jaime Valls Miro, Carlos Perez-Vidal & Josep Tornero - 2019 - Interaction Studies: Social Behaviour and Communication in Biological and Artificial Systems 20 (1):148-184.
Indoctrination, Coercion and Freedom of Will.Gideon Yaffe - 2003 - Philosophy and Phenomenological Research 67 (2):335–356.
Voigt Kinematics and Electrodynamic Consequences.Albert G. Gluckman - 1976 - Foundations of Physics 6 (3):305-316.
Manipulators and Moral Standing.Benjamin Matheson - 2019 - Philosophia 47 (4):1197-1214.

Analytics

Added to PP index
2019-08-01

Total views
25 ( #335,478 of 2,255,382 )

Recent downloads (6 months)
25 ( #31,029 of 2,255,382 )

How can I increase my downloads?

Downloads

My notes

Sign in to use this feature