Refined Self-Motion Scheme With Zero Initial Velocities and Time-Varying Physical Limits via Zhang Neurodynamics Equivalency

Zanyu Tang; Yunong Zhang

doi:10.3389/fnbot.2022.945346

Refined Self-Motion Scheme With Zero Initial Velocities and Time-Varying Physical Limits via Zhang Neurodynamics Equivalency

Front Neurorobot. 2022 Aug 18:16:945346. doi: 10.3389/fnbot.2022.945346. eCollection 2022.

Authors

Zanyu Tang^{1

2

3}, Yunong Zhang^{1

2}

Affiliations

¹ School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China.
² Research Institute of Sun Yat-sen University in Shenzhen, Shenzhen, China.
³ College of Information Science and Engineering, Jishou University, Jishou, China.

Abstract

By considering the different-level time-varying physical limits in joint space, a refined self-motion control scheme via Zhang neurodynamics equivalency (SMCSvZ) of redundant robot manipulators is proposed, analyzed, and investigated in this manuscript. The SMCSvZ is reformulated as a quadratic program with an equation constraint and a unified bound inequation constraint, which meets the self-motion requirements including the end effector keeping immobile and the initial joint-angle velocities being zero. Simulative verifications based on a six-degrees-of-freedom planar redundant manipulator substantiate the efficacy, accuracy, and superiority of the proposed control scheme, additionally by comparing it with two previous self-motion control schemes. Besides, simulative verifications based on a PUMA560 manipulator are carried out to further verify the availability and correctness of the SMCSvZ.

Keywords: Zhang neurodynamics equivalency; quadratic program; redundant robot manipulators; self-motion control scheme; time-varying physical limits; zero initial joint-angle velocities.