Two Acceleration-Layer Configuration Amendment Schemes of Redundant Robot Arms Based on Zhang Neurodynamics...

Area of Science:

• Robotics
• Control Theory
• Artificial Intelligence

Background:

• Constrained redundant robot arms present challenges in precise motion control.
• Existing configuration amendment (CA) methods may not fully address multi-layer physical limitations.

Purpose of the Study:

• To propose two novel acceleration-layer CA schemes for constrained redundant robot arms.
• To enhance robot arm control by unifying constraints and considering time-variant physical limits.

Main Methods:

• Application of Zhang neurodynamics equivalency (ZNE) to derive an acceleration-layer CA performance indicator.
• Theoretical derivation and proof of theorems and corollaries to transform angle- and velocity-layer constraints to the acceleration layer.
• Formulation of CA schemes as standard quadratic programming problems solved by a projection neurodynamics solver.

Main Results:

• Development of an enhanced CA scheme for time-variant physical limits and a simplified scheme for time-invariant limits.
• Verification of proposed CA schemes through simulative experiments on a four-link planar arm and a UR3 spatial arm.
• Substantiation of practicability via physical experiments on a Kinova Jaco2 arm.

Conclusions:

• The proposed acceleration-layer CA schemes effectively address configuration amendment for constrained redundant robot arms.
• The ZNE method provides a robust framework for developing advanced CA strategies.
• The developed schemes demonstrate superior performance and practical applicability in real-world robotic systems.