Kinematic control of manipulators with joint physical constraints, such as joint limits and joint velocity limits, has received extensive studies. Many studies resolved this problem at the second-order kinematic level, which may suffer from the self-motion instability in the presence of persistent self-motion or unboundedness of joint velocity. In this paper, a unified approach is proposed to control a manipulator with both joint limits and joint velocity limits at the second-order kinematic level. By combining the weighted least-norm (WLN) solution in the revised joint space and the clamping weighted least-norm (CWLN) solution in the real joint space, the unified approach ensures the joint limits and joint velocity limits at the same time. A time-variant clamping factor is incorporated into the unified approach to suppress the self-motion when the joint velocity diverges, or the end-effector stops, which improves the stability of self-motion. The simulations in contrast to the traditional dynamic feedback control scheme and the new minimum-acceleration-norm (MAN) scheme have been made to demonstrate the advantages of the unified approach.
A Unified Approach for Second-Order Control of the Manipulator With Joint Physical Constraints
Manuscript received June 11, 2016; final manuscript received March 23, 2017; published online May 15, 2017. Assoc. Editor: Andreas Mueller.
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Jiang, P., Huang, S., Xiang, J., and Chen, M. Z. Q. (May 15, 2017). "A Unified Approach for Second-Order Control of the Manipulator With Joint Physical Constraints." ASME. J. Mechanisms Robotics. August 2017; 9(4): 041009. https://doi.org/10.1115/1.4036569
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