To demonstrate the hardware realizability and efficacy of the quadratic program (QP) based methods for solving the nonrepetitive problem, this paper proposes a novel repetitive motion planning and control (RMPC) scheme and realizes this scheme on a physical planar six degrees-of-freedom (DOF) push-rod-joint (PRJ) manipulator. To control the PRJ manipulator, this scheme considers variable joint-velocity limits and joint-limit margins. In addition, to decrease the errors, this scheme considers the position-error feedback. Then, the scheme is reformulated as a QP problem. Due to control of the digital computer, a discrete-time QP solver is presented to solve the QP problem. For comparison, both of the nonrepetitive and repetitive motions are performed on the manipulator to track square and B-shaped paths. Experimental results validate the physical realizability and effectiveness of the RMPC scheme.
Repetitive Motion Planning and Control on Redundant Robot Manipulators With Push-Rod-Type Joints
Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received December 20, 2011; final manuscript received July 27, 2012; published online November 7, 2012. Assoc. Editor: Alexander Leonessa.
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Zhang, Z., and Zhang, Y. (November 7, 2012). "Repetitive Motion Planning and Control on Redundant Robot Manipulators With Push-Rod-Type Joints." ASME. J. Dyn. Sys., Meas., Control. March 2013; 135(2): 024502. https://doi.org/10.1115/1.4007608
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