Four-Criterion-Optimization-Based Coordination Motion Control of Dual-Arm Robots

doi:10.1109/TCDS.2022.3182534

CORC > 自动化研究所 > 中国科学院自动化研究所 > 中科院工业视觉智能装备工程实验室

	Four-Criterion-Optimization-Based Coordination Motion Control of Dual-Arm Robots
	Tong, Yuchuang 1,2,3,4,6; Liu, Jinguo 2,3; Zhang, Xin 2,3; Ju, Zhaojie 2,3,5
刊名	IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS
	2023-06-01
卷号	15 期号:2 页码:794-807
关键词	Coordination motion control dual-arm robot motion planning recurrent neural network (RNN) redundant manipulator
ISSN号	2379-8920
DOI	10.1109/TCDS.2022.3182534
通讯作者	Liu, Jinguo(liujinguo@sia.cn)
英文摘要	In order to address the coordination constraints and physical constraints subjected to the dual-arm robot simultaneously, a novel four-criterion-optimization coordination motion (FCOCM) scheme is proposed, which combines four optimization criteria, namely, the repetitive motion planning (RMP), minimum velocity norm (MVN), maximize manipulability (MM), and infinity-norm velocity minimization (INVM). The scheme can remedy discontinuity in the INVM scheme, eliminate joint angular drift phenomenon, prevent the high joint angular velocity and MM, thereby improving the motion efficiency and ensuring safety and accuracy in the process of tasks. Besides, this scheme also considers real-time trajectory feedback, satisfies physical constraints, and ensures the joint angular velocity is zero at the end of tasks. Furthermore, the improved FCOCM scheme is solved by a novel power-exponent-type variable-parameter recurrent neural network (PET-VPNN) model proposed in this article. A novel Sinh-tunable type activation function which achieves better convergence performance is also proposed. Simulations and experiment are presented to verify the superiority of the proposed coordination motion control method. This research is of great significance for the coordination motion control of dual-arm robots in complex path planning tasks.
资助项目	National Key Research and Development Program of China[2018YFB1304600] ; Natural Science Foundation of China[51775541] ; CAS Interdisciplinary Innovation Team[JCTD-2018-11] ; State Key Laboratory of Robotics Foundation[Y91Z0303] ; National Natural Science Foundation of China[62103407]
WOS关键词	CRITERIA VELOCITY MINIMIZATION ; NEURAL-NETWORK ; SPACE ROBOT ; IMPEDANCE CONTROL ; MANIPULATORS ; OPTIMIZATION ; INEQUALITIES ; SYSTEMS
WOS研究方向	Computer Science ; Robotics ; Neurosciences & Neurology
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001005746000042
资助机构	National Key Research and Development Program of China ; Natural Science Foundation of China ; CAS Interdisciplinary Innovation Team ; State Key Laboratory of Robotics Foundation ; National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/53636]
专题	中科院工业视觉智能装备工程实验室
通讯作者	Liu, Jinguo
作者单位	1.Chinese Acad Sci, Engn Lab Ind Vis & Intelligent Equipment Technol, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang 110169, Peoples R China 3.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China 4.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 5.Univ Portsmouth, Sch Comp, Portsmouth PO1 3HE, England 6.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Tong, Yuchuang,Liu, Jinguo,Zhang, Xin,et al. Four-Criterion-Optimization-Based Coordination Motion Control of Dual-Arm Robots[J]. IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,2023,15(2):794-807.
APA	Tong, Yuchuang,Liu, Jinguo,Zhang, Xin,&Ju, Zhaojie.(2023).Four-Criterion-Optimization-Based Coordination Motion Control of Dual-Arm Robots.IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,15(2),794-807.
MLA	Tong, Yuchuang,et al."Four-Criterion-Optimization-Based Coordination Motion Control of Dual-Arm Robots".IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS 15.2(2023):794-807.