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Tracking control of redundant manipulator under active remote center-of-motion constraints: an RNN-based metaheuristic approach

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Science China(Information Sciences) 2021年第3期64卷 149-166页

作者： Ameer Hamza KHAN Shuai LI Xinwei CAO Department of Computing Hong Kong Polytechnic University Department of Electronics and Electrical Engineering Swansea University School of Management Shanghai University

In this paper, we propose a recurrent neural network(RNN) for the tracking control of surgical robots while satisfying remote center-of-motion(RCM) constraints. RCM constraints enforce rules suggesting that the surgical tip should not go beyond the region of incision while tracking the commands of the *** of RCM constraints can result in serious injury to the patient. We unify the RCM constraints with the tracing control by formulating a single constrained optimization problem using a penalty-term *** penalty-term actively rewards the optimizer for satisfying the RCM constraints. We then propose an RNN-based metaheuristic optimization algorithm called "Beetle Antennae Olfactory Recurrent Neural Network(BAORNN)" for solving the formulated optimization problem in real time. The proposed control framework can track the surgeon’s commands and satisfy the RCM constraints simultaneously. Theoretical analysis is performed to demonstrate the stability and convergence of the BAORNN algorithm. Simulations using LBR IIWA14, a 7-degree-of-freedom robotic arm, are performed to analyze the performance of the proposed framework.

关键词： tracking control surgical robots RCM constraints metaheuristic optimization recurrent neural network RNN redundant manipulator

Research on Trajectory Tracking Method of redundant manipulator Based on PSO Algorithm Optimization

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Computer Modeling in Engineering & Sciences 2020年第10期125卷 401-415页

作者： Shifu Xu Yanan Jiang Faculty of Mechanical Engineering and Automation College of Science and Technology of Ningbo UniversityCixi315300China

Aiming at the problem that the trajectory tracking performance of redundant manipulator corresponding to the target position is difficult to optimize,the trajectory tracking method of redundant manipulator based on PSO algorithm optimization is *** kinematic diagram of redundant manipulator is created,to derive the equation of motion trajectory of redundant manipulator *** inverse Jacobi matrix is used to solve the problem of manipulator *** on the tracking ellipse of redundant manipulator,the tracking shape of redundant manipulator is determined with the overall tracking index as the second index,and the optimization method of tracking index is *** redundant manipulator contour is located by active contour model,on this basis,combined with particle swarm optimization algorithm,the point coordinates on the circumference with the relevant joint point as the center and joint length as the radius are selected as the algorithm particles for iteration,and the optimal tracking results of the overall redundant manipulator trajectory are *** experimental results show that under the proposed method,the tracking error of the redundant manipulator is low,and the error jump range is *** shows that this method has high tracking accuracy and reliability.

关键词： PSO algorithm optimization redundant manipulator trajectory tracking overall tracking index

Singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links

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Chinese Journal of Aeronautics 2024年第8期37卷 435-459页

作者： Zhiyuan ZHAO Xiaohang YANG Yuntao LI Zichun XU Jingdong ZHAO Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This study focuses on addressing kinematic singularity analysis and avoidance issues for a space station remote manipulator system(SSRMS)-type reconfigurable space *** manipulator is equipped with a non-spherical wrist and two lockable passive telescopic links(LPTLs),which enable it to have both active revolute and passive prismatic joints and operate in two distinct *** begin with the kinematic singularity analysis,the study derives the differential kinematic equations for the manipulator and identifies the dominant Jacobian matrix that causes ***,an in-depth analysis of singularities from multiple perspectives is ***,a kinematic singularity map method is proposed to capture the distribution of singularities within the reachable ***,the influence of the two LPTLs on singularities is thoroughly ***,a new method based on the matrix rank equivalence principle is introduced to determine singularity conditions,enabling the identification of all the singular configurations for the SSRMS-type reconfigurable ***,this method significantly reduces computational complexity,and the singularity conditions obtained have more concise *** the singularity avoidance problem,a novel method is developed,which simultaneously addresses the requirements of real-time performance,high precision,and the avoidance of both kinematic singularities and joint limit *** from these excellent properties,the proposed method can effectively resolve the singularity issues encountered separately by the SSRMS-type reconfigurable manipulator in its two operational *** typical simulations validate the utility of all the proposed methods.

关键词： Reconfigurable space manipulator redundant manipulator Kinematics Singularity analysis Singularity avoidance

Motion Planning Based on Two New Fault Tolerant Indexes for redundant manipulators

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Motion Planning Based on Two New Fault Tolerant Indexes for ...

Gait fitting for snake robots with binary actuators

第十一届IFTOMM世界大会

作者： Jing Zhao Hongmei Jing School of Mechanical Engineering & Electronics Technology Beijing Polytechnic University Beijing 100022 China

＜正＞A new physical meaning of manipulability measure is given. Reduced manipulability is analyzed, and arm length index and rotation angle index which express fault tolerant workspace and actual manipulability respectively are proposed. Synchronous fault tolerant planning of joint motion and end-effector motion is researched through simulation examples for a planar 3R manipulator. Research results show that the maximization of rotation angle index can avoid the singular configuration of the reduced manipulator at failure moment, while the maximization of arm length index can avoid the singular configuration of the reduced manipulator after the failure.

关键词： Motion planning redundant manipulator Fault tolerant indexes

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Science China(Technological Sciences) 2014年第1期57卷 181-191页

作者： MIAO YunJie GAO Feng ZHANG Yong State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University

Thanks to the special physical architectures and various locomotion gaits,snake robots may offer significant benefits over traditional legged or wheeled locomotion designs in vast types of *** paper proposes an innovative snake robot with digitally-actuated Stewart platforms as its modules and mainly focuses on the simulations of various snake *** categories of fitting algorithms are elaborated in simulations of lateral undulation and Configuration-Fitting Algorithm of Four Modules is demonstrated as a universal gait fitting algorithm for all kinds of snake robots with binary *** typical snake gaits are simulated and the results demonstrate the excellent mobility of the snake robot.

关键词： binary actuators redundant manipulator snake robots gait fitting

Inverse Kinematics Analysis of a 7-DOF Space manipulator for Trajectory Design

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Journal of Beijing Institute of Technology 2017年第3期26卷 285-291页

作者： Pengfei Xin Jili Rong Yongtai Yang Dalin Xiang School of Aerospace Engineering Beijing Institute of Technology Quanzhou Institute of Equipment Manufacturing Haixi InstitutesChinese Academy of Sciences

To solve the inverse kinematics problem for redundant degrees of freedom（DOFs）manipulators has been and still continues to be quite challenging in the field of *** at trajectory planning for a 7-DOF space manipulator system,joint rotation trajectories are obtained from predetermined motion trajectories and poses of the end effector in Cartesian space based on the proposed generalized inverse kinematics method.A minimum norm method is employed to choose the best trajectory among available *** simulations with the7-DOF manipulator show that the proposed method can achieve the planned trajectory and pose under the circumstances of minimum angular ***,trajectory results from the proposed kinematics model and inverse kinematics method has the advantages of simple modelling,low computation cost,easy to solve and plan trajectory *** smooth and continuous joint rotation functions obtained from the proposed method are suitable for practical engineering applications.

关键词： redundant manipulator inverse kinematics trajectory design minimum norm method

Self-adapting control parameters modifieddifferential evolution for trajectoryplanning of manipulators

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控制理论与应用（英文版） 2007年第4期5卷 365-373页

作者： Lianghong WU Yaonan WANG Shaowu ZHOU College of Information and Electric engineering Hunan University of Science and Technology Xiangtan Hunan 411201 China College of Electric and Information Engineering Hunan University Changsha Hunan 410082 China

Control parameters of original differential evolution （DE） are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinization problems. According to the relative position of two different individual vectors selected to generate a difference vector in the searching place, a self-adapting strategy for the scale factor F of the difference vector is proposed. In terms of the convergence status of the target vector in the current population, a self-adapting crossover probability constant CR strategy is proposed. Therefore, good target vectors have a lower CFI while worse target vectors have a large CFI. At the same time, the mutation operator is modified to improve the convergence speed. The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator. Finally, the experiment results show that the proposed approaches can greatly improve robustness and convergence speed.

关键词： Self-adapting control parameters Differential evolution redundant manipulator Trajectory planning

Recurrent Neural Network for Kinematic Control of redundant Robot manipulators

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Recurrent Neural Network for Kinematic Control of Redundant ...

Research On Fault Tolerant Control Strategy of Multi-Degree-of-Freedom manipulator with Single Joint Faults

第三十九届中国控制会议

作者： Li He Mei Liu Chenfu Yi Yang Shi Zhongbo Sun Liangming Chen Long Jin School of Information Science and Engineering Lanzhou University Academy of Plateau Science and Sustainability School of Information Engineering Jiangxi University of Science and Technology School of Information Engineering Yangzhou University Department of Control Engineering Changchun University of Technology

The redundant manipulator as a ubiquitous and essential component of robots, acts as a momentous role in mechanized production. The motion control of a redundant manipulator is an essential problem that must be handled. Consequently, for the repetitive motion control of redundant manipulators, a recurrent neural network（RNN） model for the double-index（DI） scheme is researched in this paper. The DI scheme sets the minimum kinetic energy（MKE） and minimum joint-angle offset（MJAO） as optimization indexes, for which the time-dependent weights are designed, and takes the dynamic equations of redundant manipulators and joint limit constraints into consideration as well. Then, the DI scheme is reformulated as a quadratic programming（QP） problem. Besides, the RNN model based on the iteration of related parameters is derived to solve the QP problem, through which joint data（i.e., joint angles, joint velocities, and joint accelerations） are obtained to drive the motion of the redundant manipulator. To verify the effectiveness of the DI scheme for motion control of redundant manipulator, simulation results of the DI scheme solved by the RNN model, the minimum acceleration norm（MAN） scheme and MKE scheme are compared.

关键词： Recurrent neural network redundant manipulator double-index scheme and repetitive motion

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Research On Fault Tolerant Control Strategy of Multi-Degree-...