A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application
Joint Authors
Jiang, Yun-Liang
Ying, Kong
Ruiyang, Zhang
Xia, Xiaoyun
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-07-31
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
For repeatable motion of redundant mobile manipulators, the flexible base platform and the redundant manipulator have to be returned to the desired initial position simultaneously after completing the given tasks.
To remedy deviations between initial position and desired position of each kinematic joint angle, a special kind of repeatable optimization for kinematic energy minimization based on terminal-time Zhang neural network (TTZNN) with finite-time convergence is proposed for inverse kinematics of mobile manipulators.
It takes the advantages that each joint of the manipulator is required to return to the desired initial position not considering the initial orientation of itself for realizing repeatable kinematics control.
Unlike the existed training methods, such an optimization of kinematic energy scheme based on TTZNN can not only reduce the convergent position error of each joint to zero in finite time, but also improve the convergent precision.
Theoretical analysis and verifications show that the proposed optimal kinematic energy scheme accelerates the convergent rate, which is tended to be applied in practical robot kinematics.
Simulation results on the manipulator with three mobile wheels substantiate the timeliness and repetitiveness of the proposed optimization scheme.
American Psychological Association (APA)
Ying, Kong& Ruiyang, Zhang& Jiang, Yun-Liang& Xia, Xiaoyun. 2019. A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application. Complexity،Vol. 2019, no. 2019, pp.1-16.
https://search.emarefa.net/detail/BIM-1133015
Modern Language Association (MLA)
Ying, Kong…[et al.]. A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application. Complexity No. 2019 (2019), pp.1-16.
https://search.emarefa.net/detail/BIM-1133015
American Medical Association (AMA)
Ying, Kong& Ruiyang, Zhang& Jiang, Yun-Liang& Xia, Xiaoyun. A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application. Complexity. 2019. Vol. 2019, no. 2019, pp.1-16.
https://search.emarefa.net/detail/BIM-1133015
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1133015