The Application of ZFD Formula to Kinematic Control of Redundant Robot Manipulators With Guaranteed Motion Precision | Zendy

Zexin Li | Zendy; Feng Xu | Zendy; Qingshan Feng | Zendy; Jianhuang Cai | Zendy; Dongsheng Guo | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

The Application of ZFD Formula to Kinematic Control of Redundant Robot Manipulators With Guaranteed Motion Precision

Author(s) -

Zexin Li,

Feng Xu,

Qingshan Feng,

Jianhuang Cai,

Dongsheng Guo

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2878462

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

Zhang et al. recently design a special difference formula called the Zhang finite-difference (ZFD) formula. This paper applies the ZFD formula for the kinematic control of redundant robot manipulators, due to its good performance in approximating first-order derivatives. Specifically, the ZFD formula is employed to discrete the pseudoinverse-based (P-based) kinematic control scheme; a new P-based kinematic control scheme with guaranteed motion precision is developed for redundant robot manipulators. Simulation results based on a five-link planar robot manipulator, which performs different end-effector paths, validate the effectiveness of the new scheme and indicate the application prospects of the ZFD formula.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research