Cyclic motion generation of multi-link planar robot performing square end-effector trajectory analyzed via gradient-descent and Zhang et al’s neural-dynamic methods

In this paper, a quadratic-programming (QP) based method is employed for cyclic motion generation (CMG) of redundant robot manipulators with joint physical limits considered. To demonstrate the effectiveness of such a QP-based CMG scheme, three types of multi-link planar arms are tested to perform square end-effector trajectories through computer simulations. Moreover, theoretical analysis based on gradient descent method and Zhang et alpsilas neural-dynamic method is conducted to prove the efficacy of the presented scheme.