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Article

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

1
School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou 510006, China
2
School of Computer Science and Engineering, Jishou University, Jishou 416000, China
3
School of Software Engineering, Sun Yat-sen University, Zhuhai 519082, China
*
Author to whom correspondence should be addressed.
Biomimetics 2024, 9(7), 435; https://doi.org/10.3390/biomimetics9070435
Submission received: 28 May 2024 / Revised: 10 July 2024 / Accepted: 11 July 2024 / Published: 17 July 2024

Abstract

Two innovative acceleration-layer configuration amendment (CA) schemes are proposed to achieve the CA of constrained redundant robot arms. Specifically, by applying the Zhang neurodynamics equivalency (ZNE) method, an acceleration-layer CA performance indicator is derived theoretically. To obtain a unified-layer inequality constraint by transforming from angle-layer and velocity-layer constraints to acceleration-layer constraints, five theorems and three corollaries are theoretically derived and rigorously proved. Then, together with the unified acceleration-layer bound constraint, an enhanced acceleration-layer CA scheme specially considering three-layer time-variant physical limits is proposed, and a simplified acceleration-layer CA scheme considering three-layer time-invariant physical limits is also proposed. The proposed CA schemes are finally formulated in the form of standard quadratic programming and are solved by a projection neurodynamics solver. Moreover, comparative simulative experiments based on a four-link planar arm and a UR3 spatial arm are performed to verify the efficacy and superiority of the proposed CA schemes. At last, physical experiments are conducted on a real Kinova Jaco2 arm to substantiate the practicability of the proposed CA schemes.
Keywords: configuration amendment; Zhang neurodynamics equivalency; inequality type; time-variant physical limits; redundant robot arms configuration amendment; Zhang neurodynamics equivalency; inequality type; time-variant physical limits; redundant robot arms

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MDPI and ACS Style

Tang, Z.; Mao, M.; Zhang, Y.; Tan, N. Two Acceleration-Layer Configuration Amendment Schemes of Redundant Robot Arms Based on Zhang Neurodynamics Equivalency. Biomimetics 2024, 9, 435. https://doi.org/10.3390/biomimetics9070435

AMA Style

Tang Z, Mao M, Zhang Y, Tan N. Two Acceleration-Layer Configuration Amendment Schemes of Redundant Robot Arms Based on Zhang Neurodynamics Equivalency. Biomimetics. 2024; 9(7):435. https://doi.org/10.3390/biomimetics9070435

Chicago/Turabian Style

Tang, Zanyu, Mingzhi Mao, Yunong Zhang, and Ning Tan. 2024. "Two Acceleration-Layer Configuration Amendment Schemes of Redundant Robot Arms Based on Zhang Neurodynamics Equivalency" Biomimetics 9, no. 7: 435. https://doi.org/10.3390/biomimetics9070435

APA Style

Tang, Z., Mao, M., Zhang, Y., & Tan, N. (2024). Two Acceleration-Layer Configuration Amendment Schemes of Redundant Robot Arms Based on Zhang Neurodynamics Equivalency. Biomimetics, 9(7), 435. https://doi.org/10.3390/biomimetics9070435

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