AUTHOR=Tang Zanyu , Zhang Yunong TITLE=Refined Self-Motion Scheme With Zero Initial Velocities and Time-Varying Physical Limits via Zhang Neurodynamics Equivalency JOURNAL=Frontiers in Neurorobotics VOLUME=16 YEAR=2022 URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2022.945346 DOI=10.3389/fnbot.2022.945346 ISSN=1662-5218 ABSTRACT=

By considering the different-level time-varying physical limits in joint space, a refined self-motion control scheme via Zhang neurodynamics equivalency (SMCSvZ) of redundant robot manipulators is proposed, analyzed, and investigated in this manuscript. The SMCSvZ is reformulated as a quadratic program with an equation constraint and a unified bound inequation constraint, which meets the self-motion requirements including the end effector keeping immobile and the initial joint-angle velocities being zero. Simulative verifications based on a six-degrees-of-freedom planar redundant manipulator substantiate the efficacy, accuracy, and superiority of the proposed control scheme, additionally by comparing it with two previous self-motion control schemes. Besides, simulative verifications based on a PUMA560 manipulator are carried out to further verify the availability and correctness of the SMCSvZ.