Neural Networks for Cooperative Control of Multiple Robot Arms by Shuai Li & Yinyan Zhang

Author:Shuai Li & Yinyan Zhang
Language: eng
Format: epub
Publisher: Springer Singapore, Singapore

3.2 Preliminaries

In this section, we describe the problem of cooperative task execution with multiple redundant robot arms. We first give a brief introduction to the redundant robot arm kinematics and then, based on this, we formulate the multiple robot arm task execution problem as a constrained quadratic programming problem.

3.2.1 Redundant Robot Arm

For a m-DOF redundant robot arm working in a n-dimensional Cartesian space (), we have the following nonlinear function:

(3.1)

where and are the coordinate of the robot arm in the Cartesian space at time t and the coordinate in the joint space, respectively. The velocity of the robot arm in the joint space, which is , and that in the Cartesian space, which is , have the following relation,

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