Abstract:

The quadratic programming (QP) problems of redundant robot manipulators, which have high requirement for realtime calculation,are subject to equality,inequality and bound constraints.For solving such QP problems with these constraints,we present and study two numerical algorithms (named as E47 and 94LVI).Such QP problems are converted equivalently to piecewiselinear projection equations (PLPE).Resultant PLPE can be solved by E47 and 94LVI algorithms,and thus the optimal numerical solutions to the QP problems are obtained.In addition, by means of abundant numerical experiments,the performances of these two algorithms on QP solving for redundant robot manipulators are proved.Comparative numerical results of E47,94LVI and those of the conventional activeset algorithms are also presented.Finally,the efficiency and superiority of the E47 and 94LVI algorithms for QP solving are well validated.

Key words: quadratic programming;numerical algorithms;E47 algorithm;94LVI algorithm;redundant robot manipulators