State adjustment of redundant robot manipulator based on quadratic programming

To achieve desired configuration, a scheme for state adjustment of a redundant robot manipulator with no end-effector task explicitly assigned and referred to as a state-adjustment scheme is proposed in this paper. Owing to the physical limits in an actual robot manipulator, both joint and joint-velocity limits are incorporated into the proposed scheme for practical purposes. In addition, the proposed state-adjustment scheme is formulated as a quadratic program and resolved at the joint-velocity level. A numerical computing algorithm based on the conversion technique of the quadratic program to linear variational inequalities is presented to address the robot state-adjustment scheme. By employing the state-adjustment scheme, the robot manipulator can automatically move to the desired configuration from any initial configuration with the movement kept within its physical limits. Computer simulation and experimental results using a practical six-link planar robot manipulator with variable joint-velocity limits further verify the realizability, effectiveness, accuracy, and flexibility of the proposed state-adjustment scheme.

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