Abstract
Differing from the conventional pseudoinverse-type scheme, an optimization scheme (specifically, a minimization scheme) is presented and investigated in this chapter for online RMP of redundant robot manipulators. Such an RMP scheme, which takes into account the avoidance of joint physical limits (e.g., joint-angle limits and joint-velocity limits), aims at remedying the so-called joint-angle drift problem. Then, some other optimization schemes, which can be viewed as the extensions of the RMP scheme, are developed and investigated for the purpose of repetitive motion planning. These schemes are finally reformulated and unified as QP problems with different definitions of the same coefficients.
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Zhang, Y., Zhang, Z. (2013). Robotic RMP Schemes and QP Formulations. In: Repetitive Motion Planning and Control of Redundant Robot Manipulators. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37518-7_2
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DOI: https://doi.org/10.1007/978-3-642-37518-7_2
Publisher Name: Springer, Berlin, Heidelberg
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