A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application

Ying Kong, Ruiyang Zhang, Yunliang Jiang and Xiaoyun Xia

Complexity, 2019, vol. 2019, 1-16

Abstract:

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.

Date: 2019
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

Downloads: (external link)
http://downloads.hindawi.com/journals/8503/2019/8642027.pdf (application/pdf)
http://downloads.hindawi.com/journals/8503/2019/8642027.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:8642027

DOI: 10.1155/2019/8642027

Access Statistics for this article

More articles in Complexity from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().