A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria

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WAN, Jun ;YAO, Jiafeng ;ZHANG, Liang'an ;WU, Hongtao .
A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 64, n.7-8, p. 475-487, july 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/a-weighted-gradient-projection-method-for-inverse-kinematics-of-redundant-manipulators-considering-multiple-performance-criteria/>. Date accessed: 21 oct. 2020. 
doi:http://dx.doi.org/10.5545/sv-jme.2017.5182.
Wan, J., Yao, J., Zhang, L., & Wu, H.
(2018).
A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria.
Strojniški vestnik - Journal of Mechanical Engineering, 64(7-8), 475-487.
doi:http://dx.doi.org/10.5545/sv-jme.2017.5182
@article{sv-jmesv-jme.2017.5182,
	author = {Jun  Wan and Jiafeng  Yao and Liang'an  Zhang and Hongtao  Wu},
	title = {A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {64},
	number = {7-8},
	year = {2018},
	keywords = {inverse kinematics; multiple performance criteria; redundant manipulator; scalar coefficient; weighted gradient projection method},
	abstract = {Among the many methods of solving inverse kinematics (IK) of redundant manipulators, the classic weighted least-norm (WLN) method is often introduced to avoid joint position limits effectively but cannot be extended to restrict other constraints. Another general technique uses the fashioned gradient projection method (GPM) that ensures successes of the main task and the constraints-based subtasks but suffers with regard to the proper selections for the coefficients of performance criteria. Inspired by the merits of WLN and GPM, a weighted gradient projection method (WGPM) is proposed in this paper to resolve IK problems of redundant manipulators with multiple performance criteria. In this approach, its structure is formulated as a hierarchical task-level regulation, where the highest priority is to accomplish the main task higher than the avoidance of joint position limits, and the priorities of other subtasks of the performance criteria are dependent on the clamping weighted matrix in descending order. Moreover, to avoid the defect of selecting scalar factors for different criteria by trial and error in GPM, a technique of determining proper scalar coefficients is presented by means of normalizing corresponding performance functions in WGPM. Using a 7 degree-of-freedom (DOF) redundant manipulator, simulations and experiments are conducted to demonstrate the validity of the proposed WGPM method by comparing it with the results of the traditional WLN and GPM methods, respectively.},
	issn = {0039-2480},	pages = {475-487},	doi = {10.5545/sv-jme.2017.5182},
	url = {https://www.sv-jme.eu/sl/article/a-weighted-gradient-projection-method-for-inverse-kinematics-of-redundant-manipulators-considering-multiple-performance-criteria/}
}
Wan, J.,Yao, J.,Zhang, L.,Wu, H.
2018 July 64. A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 64:7-8
%A Wan, Jun 
%A Yao, Jiafeng 
%A Zhang, Liang'an 
%A Wu, Hongtao 
%D 2018
%T A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria
%B 2018
%9 inverse kinematics; multiple performance criteria; redundant manipulator; scalar coefficient; weighted gradient projection method
%! A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria
%K inverse kinematics; multiple performance criteria; redundant manipulator; scalar coefficient; weighted gradient projection method
%X Among the many methods of solving inverse kinematics (IK) of redundant manipulators, the classic weighted least-norm (WLN) method is often introduced to avoid joint position limits effectively but cannot be extended to restrict other constraints. Another general technique uses the fashioned gradient projection method (GPM) that ensures successes of the main task and the constraints-based subtasks but suffers with regard to the proper selections for the coefficients of performance criteria. Inspired by the merits of WLN and GPM, a weighted gradient projection method (WGPM) is proposed in this paper to resolve IK problems of redundant manipulators with multiple performance criteria. In this approach, its structure is formulated as a hierarchical task-level regulation, where the highest priority is to accomplish the main task higher than the avoidance of joint position limits, and the priorities of other subtasks of the performance criteria are dependent on the clamping weighted matrix in descending order. Moreover, to avoid the defect of selecting scalar factors for different criteria by trial and error in GPM, a technique of determining proper scalar coefficients is presented by means of normalizing corresponding performance functions in WGPM. Using a 7 degree-of-freedom (DOF) redundant manipulator, simulations and experiments are conducted to demonstrate the validity of the proposed WGPM method by comparing it with the results of the traditional WLN and GPM methods, respectively.
%U https://www.sv-jme.eu/sl/article/a-weighted-gradient-projection-method-for-inverse-kinematics-of-redundant-manipulators-considering-multiple-performance-criteria/
%0 Journal Article
%R 10.5545/sv-jme.2017.5182
%& 475
%P 13
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 64
%N 7-8
%@ 0039-2480
%8 2018-07-12
%7 2018-07-12
Wan, Jun, Jiafeng  Yao, Liang'an  Zhang, & Hongtao  Wu.
"A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria." Strojniški vestnik - Journal of Mechanical Engineering [Online], 64.7-8 (2018): 475-487. Web.  21 Oct. 2020
TY  - JOUR
AU  - Wan, Jun 
AU  - Yao, Jiafeng 
AU  - Zhang, Liang'an 
AU  - Wu, Hongtao 
PY  - 2018
TI  - A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.5182
KW  - inverse kinematics; multiple performance criteria; redundant manipulator; scalar coefficient; weighted gradient projection method
N2  - Among the many methods of solving inverse kinematics (IK) of redundant manipulators, the classic weighted least-norm (WLN) method is often introduced to avoid joint position limits effectively but cannot be extended to restrict other constraints. Another general technique uses the fashioned gradient projection method (GPM) that ensures successes of the main task and the constraints-based subtasks but suffers with regard to the proper selections for the coefficients of performance criteria. Inspired by the merits of WLN and GPM, a weighted gradient projection method (WGPM) is proposed in this paper to resolve IK problems of redundant manipulators with multiple performance criteria. In this approach, its structure is formulated as a hierarchical task-level regulation, where the highest priority is to accomplish the main task higher than the avoidance of joint position limits, and the priorities of other subtasks of the performance criteria are dependent on the clamping weighted matrix in descending order. Moreover, to avoid the defect of selecting scalar factors for different criteria by trial and error in GPM, a technique of determining proper scalar coefficients is presented by means of normalizing corresponding performance functions in WGPM. Using a 7 degree-of-freedom (DOF) redundant manipulator, simulations and experiments are conducted to demonstrate the validity of the proposed WGPM method by comparing it with the results of the traditional WLN and GPM methods, respectively.
UR  - https://www.sv-jme.eu/sl/article/a-weighted-gradient-projection-method-for-inverse-kinematics-of-redundant-manipulators-considering-multiple-performance-criteria/
@article{{sv-jme}{sv-jme.2017.5182},
	author = {Wan, J., Yao, J., Zhang, L., Wu, H.},
	title = {A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {64},
	number = {7-8},
	year = {2018},
	doi = {10.5545/sv-jme.2017.5182},
	url = {https://www.sv-jme.eu/sl/article/a-weighted-gradient-projection-method-for-inverse-kinematics-of-redundant-manipulators-considering-multiple-performance-criteria/}
}
TY  - JOUR
AU  - Wan, Jun 
AU  - Yao, Jiafeng 
AU  - Zhang, Liang'an 
AU  - Wu, Hongtao 
PY  - 2018/07/12
TI  - A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 64, No 7-8 (2018): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.5182
KW  - inverse kinematics, multiple performance criteria, redundant manipulator, scalar coefficient, weighted gradient projection method
N2  - Among the many methods of solving inverse kinematics (IK) of redundant manipulators, the classic weighted least-norm (WLN) method is often introduced to avoid joint position limits effectively but cannot be extended to restrict other constraints. Another general technique uses the fashioned gradient projection method (GPM) that ensures successes of the main task and the constraints-based subtasks but suffers with regard to the proper selections for the coefficients of performance criteria. Inspired by the merits of WLN and GPM, a weighted gradient projection method (WGPM) is proposed in this paper to resolve IK problems of redundant manipulators with multiple performance criteria. In this approach, its structure is formulated as a hierarchical task-level regulation, where the highest priority is to accomplish the main task higher than the avoidance of joint position limits, and the priorities of other subtasks of the performance criteria are dependent on the clamping weighted matrix in descending order. Moreover, to avoid the defect of selecting scalar factors for different criteria by trial and error in GPM, a technique of determining proper scalar coefficients is presented by means of normalizing corresponding performance functions in WGPM. Using a 7 degree-of-freedom (DOF) redundant manipulator, simulations and experiments are conducted to demonstrate the validity of the proposed WGPM method by comparing it with the results of the traditional WLN and GPM methods, respectively.
UR  - https://www.sv-jme.eu/sl/article/a-weighted-gradient-projection-method-for-inverse-kinematics-of-redundant-manipulators-considering-multiple-performance-criteria/
Wan, Jun, Yao, Jiafeng, Zhang, Liang'an, AND Wu, Hongtao.
"A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 64 Number 7-8 (12 July 2018)

Avtorji

Inštitucije

  • Nanjing University of Aeronautics & Astronautics, College of Mechanical and Electrical Engineering, China 1
  • Anhui University of Technology, Department of Mechanical Engineering, China 2

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 64(2018)7-8, 475-487

https://doi.org/10.5545/sv-jme.2017.5182

Among the many methods of solving inverse kinematics (IK) of redundant manipulators, the classic weighted least-norm (WLN) method is often introduced to avoid joint position limits effectively but cannot be extended to restrict other constraints. Another general technique uses the fashioned gradient projection method (GPM) that ensures successes of the main task and the constraints-based subtasks but suffers with regard to the proper selections for the coefficients of performance criteria. Inspired by the merits of WLN and GPM, a weighted gradient projection method (WGPM) is proposed in this paper to resolve IK problems of redundant manipulators with multiple performance criteria. In this approach, its structure is formulated as a hierarchical task-level regulation, where the highest priority is to accomplish the main task higher than the avoidance of joint position limits, and the priorities of other subtasks of the performance criteria are dependent on the clamping weighted matrix in descending order. Moreover, to avoid the defect of selecting scalar factors for different criteria by trial and error in GPM, a technique of determining proper scalar coefficients is presented by means of normalizing corresponding performance functions in WGPM. Using a 7 degree-of-freedom (DOF) redundant manipulator, simulations and experiments are conducted to demonstrate the validity of the proposed WGPM method by comparing it with the results of the traditional WLN and GPM methods, respectively.

inverse kinematics; multiple performance criteria; redundant manipulator; scalar coefficient; weighted gradient projection method