关键词： 多连杆机械臂；加速度层；运动控制方案；控制算法, 二次规划

Abstract: To realize the minimum motion planning and control of multi-link robot arms at the acceleration-velocity level,a norm-based minimum acceleration movement control scheme is proposed and investigated.Different from other schemes,the proposed scheme involves the joint-angle,joint-velocity,and joint-acceleration constraints via using quadratic program formulation.Thus,the redundant robot arms can avoid the physical constraints during motion control process.In addition,in order to control the movement of robot arms effectively,an iterative control algorithm with less computation complexity is developed.Finally,a planar six-link manipulator is employed as an experimental platform to track an ∞-type path task.Simulative results verify the effectiveness of the minimum acceleration scheme and the corresponding iterative control algorithm.

Key words: multi-link manipulators, acceleration-velocity level, motion control scheme, control algorithm, quadratic program