A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application
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 j...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2019/8642027 |
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| author | Ying Kong Ruiyang Zhang Yunliang Jiang Xiaoyun Xia |
| author_facet | Ying Kong Ruiyang Zhang Yunliang Jiang Xiaoyun Xia |
| author_sort | Ying Kong |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-b8eaf553d7ce46adb02ad0d64535283e |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-b8eaf553d7ce46adb02ad0d64535283e2025-02-03T07:25:24ZengWileyComplexity1076-27871099-05262019-01-01201910.1155/2019/86420278642027A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator ApplicationYing Kong0Ruiyang Zhang1Yunliang Jiang2Xiaoyun Xia3Department of Information and Electronic Engineering, Zhejiang University of Science and Technology, ChinaDepartment of Information and Electronic Engineering, Zhejiang University of Science and Technology, ChinaSchool of Information Engineering, Huzhou University, ChinaCollege of Mathematics, Physics and Information Engineering, Jiaxing University, ChinaFor 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.http://dx.doi.org/10.1155/2019/8642027 |
| spellingShingle | Ying Kong Ruiyang Zhang Yunliang Jiang Xiaoyun Xia A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application Complexity |
| title | A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application |
| title_full | A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application |
| title_fullStr | A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application |
| title_full_unstemmed | A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application |
| title_short | A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application |
| title_sort | repeatable optimization for kinematic energy system with its mobile manipulator application |
| url | http://dx.doi.org/10.1155/2019/8642027 |
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