New Jerk-Level Configuration Adjustment Schemes Applied to Constrained Redundant Robots

In this article, the new jerk-level configuration adjustment (JLCA) schemes are proposed to achieve the configuration adjustment of constrained redundant robots. Specifically, by applying the zeroing neurodynamics design rule three times, the new JLCA performance index is first derived; then, together with the joint physical constraints incorporated, the new JLCA schemes are obtained for dual-arm and single-arm redundant robots, respectively. For comparison purposes, three other configuration adjustment schemes are also presented. Moreover, the comparative simulative experiments based on a planar dual-arm redundant robot (i.e., five-link dual-arm robot) and a spatial single-arm redundant robot (i.e., Kinova JACO $^2$ robot) are performed to verify the efficacy and superiority of the proposed JLCA schemes, as compared with the three other configuration adjustment schemes. At last, the comparative physical experiments are conducted on the real Kinova JACO $^2$ robot to substantiate the practicability and excellent performance of the proposed JLCA scheme for single-arm redundant robots.