Application to Fixed-Base Robot RMP

  • Yunong ZhangEmail author
  • Dongsheng Guo


In this chapter, the ZD approach presented in the previous chapters is applied to repetitive motion planning (RMP) of fixed-base redundant robot manipulators at the joint-acceleration level. Specifically, by introducing two different ZFs and by exploiting the ZD design formula, an acceleration-level RMP performance index is proposed, developed, and investigated. The resultant RMP scheme, which incorporates joint-angle, joint-velocity and joint-acceleration limits, is further presented and investigated to remedy the joint-angle drift phenomenon of fixed-base redundant robot manipulators. Such a scheme is then reformulated as a quadratic program, which is solved by a primal–dual neural network. With three path-tracking examples, simulation results based on PUMA560 robot manipulator substantiate well the effectiveness and accuracy of the proposed acceleration-level RMP scheme, as well as show the application prospect of the presented ZD approach.


Quadratic Program Robot Manipulator Joint Velocity Task Duration Inverse Kinematic Problem 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  1. 1.School of Information Science and TechnologySun Yat-sen UniversityGuangzhouChina

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