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Related Experiment Video

Updated: May 23, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Acceleration-Level Cyclic-Motion Generation of Constrained Redundant Robots Tracking Different Paths.

Zhijun Zhang, Yunong Zhang

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society

|April 7, 2012

Summary

This study introduces an acceleration-level cyclic motion generation (CMG) scheme to prevent joint-angle drift in redundant robot manipulators. The new CMG scheme is safer and more applicable than previous methods.

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Area of Science:

Robotics
Control Systems
Artificial Intelligence

Background:

Redundant robot manipulators often suffer from joint-angle drift during operation.
Existing control methods at the joint-acceleration or torque level require advanced solutions.
Cyclic motion generation (CMG) is crucial for repetitive tasks in robotics.

Purpose of the Study:

To propose a novel cyclic-motion generation (CMG) scheme at the acceleration level.
To address and remedy the joint-angle drift phenomenon in redundant robot manipulators.
To enhance the safety and applicability of robot control schemes.

Main Methods:

Exploiting a cyclic-motion criterion at the joint-acceleration level.
Incorporating joint-angle, velocity, and acceleration limits into the scheme.
Employing Zhang's neural-dynamic method for analysis.
Reformulating the scheme as a quadratic program solved by a primal-dual neural network.

Main Results:

The proposed acceleration-level CMG scheme effectively remedies joint-angle drift.
Simulations demonstrated the effectiveness and accuracy of the scheme.
Comparisons showed the acceleration-level CMG scheme is safer and more applicable than velocity-level schemes.
Physical robot experiments validated the scheme's realizability.

Conclusions:

The acceleration-level CMG scheme offers a robust solution for redundant robot manipulator control.
The proposed method enhances operational safety and applicability in real-world scenarios.
This work advances the field of robot control by providing a practical and effective CMG strategy.