{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T21:56:46Z","timestamp":1747173406686,"version":"3.40.5"},"reference-count":50,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2021,8,9]],"date-time":"2021-08-09T00:00:00Z","timestamp":1628467200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The multi-arm robotic systems consisting of redundant robots are able to conduct more complex and coordinated tasks, such as manipulating large or heavy objects. The challenges of the motion planning and control for such systems mainly arise from the closed-chain constraint and redundancy resolution problem. The closed-chain constraint reduces the configuration space to lower-dimensional subsets, making it difficult for sampling feasible configurations and planning path connecting them. A global motion planner is proposed in this paper for the closed-chain systems, and motions in different disconnected manifolds are efficiently bridged by two type regrasping moves. The regrasping moves are automatically chosen by the planner based on cost-saving principle, which greatly improve the success rate and efficiency. Furthermore, to obtain the optional inverse kinematic solutions satisfying joint physical limits (e.g., joint position, velocity, acceleration limits) in the planning, the redundancy resolution problem for dual redundant robots is converted into a unified quadratic programming problem based on the combination of two diff erent-level optimizing criteria, i.e. the minimization velocity norm (MVN) and infinity norm torque-minimization (INTM). The Dual-MVN-INTM scheme guarantees smooth velocity, acceleration profiles, and zero final velocity at the end of motion. Finally, the planning results of three complex closed-chain manipulation task using two Franka Emika Panda robots and two Kinova Jaco2 robots in both simulation and experiment demonstrate the effectiveness and efficiency of the proposed method.<\/jats:p>","DOI":"10.1017\/s0263574721000941","type":"journal-article","created":{"date-parts":[[2021,8,9]],"date-time":"2021-08-09T10:49:45Z","timestamp":1628506185000},"page":"1125-1150","source":"Crossref","is-referenced-by-count":7,"title":["Global motion planning and redundancy resolution for large objects manipulation by dual redundant robots with closed kinematics"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1374-9788","authenticated-orcid":false,"given":"Yongxiang","family":"Wu","sequence":"first","affiliation":[]},{"given":"Yili","family":"Fu","sequence":"additional","affiliation":[]},{"given":"Shuguo","family":"Wang","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,8,9]]},"reference":[{"key":"S0263574721000941_ref23","doi-asserted-by":"publisher","DOI":"10.1017\/S026357471900119X"},{"key":"S0263574721000941_ref31","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574711001007"},{"key":"S0263574721000941_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2222272"},{"key":"S0263574721000941_ref33","doi-asserted-by":"crossref","unstructured":"[33] Szynkiewicz, W and Blaszczyk, J. , \u201cOptimization-based approach to path planning for closed chain robot systems,\u201d International Journal of Applied Mathematics and Computer Science 21, 659-670 (2011).","DOI":"10.2478\/v10006-011-0052-8"},{"key":"S0263574721000941_ref48","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2006.884922"},{"key":"S0263574721000941_ref44","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914521306"},{"key":"S0263574721000941_ref38","doi-asserted-by":"crossref","unstructured":"[38] Guo, D. and Y Zhang, \u201cAcceleration-level inequality-based MAN scheme for obstacle avoidance of redundant robot manipulators,\u201d IEEE Trans Ind Electronics 61, 6903\u20136914 (2014).","DOI":"10.1109\/TIE.2014.2331036"},{"key":"S0263574721000941_ref12","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84628-642-1"},{"key":"S0263574721000941_ref8","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714001234"},{"key":"S0263574721000941_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-28619-4_62"},{"key":"S0263574721000941_ref15","doi-asserted-by":"crossref","unstructured":"[15] Guo, D. and Y Zhang, \u201cDifferent-level two-norm and infinity-norm minimization to remedy joint-torque instability\/divergence for redundant robot manipulators,\u201d Rob Autonom Syst. 60, 874\u2013888 (2012).","DOI":"10.1016\/j.robot.2012.01.008"},{"key":"S0263574721000941_ref42","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2015.1059365"},{"key":"S0263574721000941_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/70.976030"},{"key":"S0263574721000941_ref41","doi-asserted-by":"crossref","unstructured":"[41] Zhang, Y , Cai, B. , Zhang, L. and Li, K. , \u201cBi-criteria velocity minimization of robot manipulators using a linear variational inequalities-based primal-dual neural network and PUMA560 example,\u201d Adv. 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