Repetitive Motion Planning and Control on Redundant Robot Manipulators With Push Rod Type Joints

Abstract

To demonstrate the hardware realizability and efficacy of the quadratic program (QP) based methods for solving the nonrepetitive problem, this paper proposes a novel repetitive motion planning and control (RMPC) scheme and realizes this scheme on a physical planar six degreesoffreedom (DOF) pushrodjoint (PRJ) manipulator. To control the PRJ manipulator, this scheme considers variable jointvelocity limits and jointlimit margins. In addition, to decrease the errors, this scheme considers the positionerror feedback. Then, the scheme is reformulated as a QP problem. Due to control of the digital computer, a discretetime QP solver is presented to solve the QP problem. For comparison, both of the nonrepetitive and repetitive motions are performed on the manipulator to track square and Bshaped paths. Experimental results validate the physical realizability and effectiveness of the RMPC scheme.