Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators

DOI10.1016/J.PHYSLETA.2009.07.045zbMath1233.70003OpenAlexW2003593395MaRDI QIDQ665354

Binghuang Cai, Yu-Nong Zhang

Publication date: 5 March 2012

Published in: Physics Letters. A (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.physleta.2009.07.045

zbMATH Keywords

equivalencequadratic programminggradient descentdifferent levelsPUMA560 robot manipulatorredundancy resolution

Mathematics Subject Classification ID

Quadratic programming (90C20) Kinematics of mechanisms and robots (70B15)

Related Items (3)

From mathematical equivalence such as Ma equivalence to generalized Zhang equivalency including gradient equivalency ⋮ The actuation efficiency, a measure of acceleration capability for nonredundant robotic manipulators ⋮ Using GD to conquer the singularity problem of conventional controller for output tracking of nonlinear system of a class

Cites Work

• Unnamed Item
• Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories
• Finding the chaotic synchronizing state with gradient descent algorithm
• A dual neural network for convex quadratic programming subject to linear equality and inequality constraints

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