Design and implementation of a zero‐initial‐velocity self‐motion scheme on a six‐DOF planar robot manipulator

The purpose of this paper is to present the design and implementation of a zero‐initial‐velocity self‐motion scheme on a six degrees of freedom (six‐DOF) planar robot manipulator.

In view of the existence of physical limits in an actual robot manipulator, both joint‐angle limits and joint‐velocity limits are initially incorporated into the proposed self‐motion scheme for practical purposes. The proposed self‐motion scheme is then reformulated as a quadratic program (QP) and resolved at the joint‐velocity level. By combining the zero‐initial‐velocity constraint, the resultant QP can prevent the occurrence of a large initial joint velocity. Finally, based on the conversion technique of QP to a linear variational inequality, a numerical computing algorithm is presented to solve the QP and the corresponding self‐motion scheme.

The proposed zero‐initial‐velocity self‐motion scheme eliminates the phenomenon of the abrupt and drastic increase in joint velocity at the beginning of the self‐motion task execution. Simulative and experimental results based on a practical six‐DOF planar robot manipulator further verify the realizability, effectiveness and accuracy of the proposed self‐motion scheme. Based on the simulative results, the joint angle and the joint velocity meet the joint physical constraints.

The paper provides effective methods for handling the physical limits, the design of zero‐initial velocity, and the conversion from joint angle and joint velocity to motor‐driving pulses. Thus, the effective and safe self‐motion control of a manipulator is realized.

The paper describes the design and implementation of a zero‐initial‐velocity self‐motion scheme.