TY - GEN
T1 - Bi-criteria kinematic control of redundant manipulators using a dual neural network
AU - Zhang, Yunong
AU - Wang, Jun
PY - 2002
Y1 - 2002
N2 - A dual neural network is presented for the bi-criteria kinematic control of redundant manipulators. To diminish the discontinuity problem of minimum effort solutions, the neural kinematic-control scheme is formulated in the bi-criteria sense of the infinity and Euclidean norms. Physical constraints such as joint limits and joint velocity limits are incorporated simultaneously into the proposed online control scheme. The dual neural network is shown to be globally exponentially convergent to optimal solutions in the bi-criteria sense. The neural network is simulated to control the PA10 robot manipulator with effectiveness demonstrated.
AB - A dual neural network is presented for the bi-criteria kinematic control of redundant manipulators. To diminish the discontinuity problem of minimum effort solutions, the neural kinematic-control scheme is formulated in the bi-criteria sense of the infinity and Euclidean norms. Physical constraints such as joint limits and joint velocity limits are incorporated simultaneously into the proposed online control scheme. The dual neural network is shown to be globally exponentially convergent to optimal solutions in the bi-criteria sense. The neural network is simulated to control the PA10 robot manipulator with effectiveness demonstrated.
UR - https://www.scopus.com/pages/publications/0036079345
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0036079345&origin=recordpage
M3 - RGC 32 - Refereed conference paper (with host publication)
VL - 1
SP - 41
EP - 46
BT - Proceedings of the International Joint Conference on Neural Networks
T2 - 2002 International Joint Conference on Neural Networks (IJCNN '02)
Y2 - 12 May 2002 through 17 May 2002
ER -