Online optimization scheme with dual-mode controller for redundancy-resolution with torque constraints

• A dual-mode online optimization method for the redundancy-resolution with torque constraints is proposed in this paper, which extends the constraints in the kinematics level to the dynamics level.
• The inequality constraints model is designed in the torque level, synthetically considered the constraints in the joint velocity and acceleration level.
• Besides, a Kintro instrument is applied for redundancy-resolution first time.

In this paper, an online optimization scheme is proposed for the real time path-tracking control of the redundant robot manipulator. In the proposed scheme, the inequality constraints are extended to the torque level to avoid the torque saturation. Besides, a dual-mode optimal controller is used to yield a feasible input during each control period, to resolve the solution space decreasing problem. Then the scheme is formulated as a Quadratic Program (QP), the computationally efficient Knitro-Based solver is applied to remedy the inescapable redundancy-resolution problem. Furthermore, the comparisons based on the different path tracking simulations between the proposed method and the velocity-level schemes demonstrate that the former is safer and more applicable. The experiment on a physical robot system further verifies the physical realizability of the proposed method.