Linear programming versus quadratic programming in robots´ repetitive redundancy resolution: A chattering phenomenon investigation

This paper investigates and compares the linear performance index and its linear-programming (LP) formulation for online redundancy resolution of redundant robot arms, which takes repetitive-motion-planning (RMP) as an example. The LP-based RMP scheme is then applied and tested based on three different types of robot-arm models, i.e., PUMA560, PA10, and a four-link planar robot arm. Computer-simulation results show that the linear performance index and its LP-based redundancy-resolution scheme could achieve the RMP purpose but it may cause a chattering phenomenon, as compared to the more successful quadratic performance index and its quadratic programming (QP) based scheme for redundant robots.