| Title: | OS19-3 Manipulability Optimization for Redundant Dual-Arm Robots at the Acceleration Level |
|---|---|
| Publication: | ICAROB2025 |
| Volume: | 30 |
| Pages: | 543-546 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2025.OS19-3 |
| Author(s): | Yang Zhang, Yingmin Jia |
| Publication Date: | February 13, 2025 |
| Keywords: | Manipulability optimization, Dual-arm robot, Quadratic programming, Redundancy resolution |
| Abstract: | Existing manipulability optimization schemes typically solve at the velocity level, which cannot consider joint acceleration limits and are unsuitable for torque control of robotic arms. Therefore, this paper constructs a cost function that considers both joint torque constraints and manipulability optimization of the manipulator, and equivalently transforms it into a convex quadratic function. The proposed scheme addresses the non-convexity issue of manipulability with respect to the robotic arm joint acceleration and the inversion problem of the generalized Jacobian matrix. Simulation results show that the proposed method can maximize the manipulability of redundant dual-arm robots at the acceleration level, verifying the effectiveness of the scheme. |
| PDF File: | https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS19/OS19-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
(c)2008 Copyright The Regents of ALife Robotics Corporation Ltd. All Rights Reserved.