Minimum infinity-norm kinematic solution for redundant robots using neural networks

H. Ding; S. K. Tso

doi:10.1109/ROBOT.1998.677412

Minimum infinity-norm kinematic solution for redundant robots using neural networks

H. Ding
, S. K. Tso

City University of Hong Kong

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

6 Citations (Scopus)

Abstract

The aim of the paper is to develop a new method of applying computational intelligence for determining a minimum infinity-norm solution to the velocity inverse kinematics problem of redundant robots i.e. computing a joint velocity vector whose maximum absolute value component is minimum among all possible joint velocity vectors corresponding to the desired end-effector velocity. A fully neural-network-based (Tank-Hopfield network) computational scheme is proposed for its implementation. At each time step, the neural network produces both the least-norm joint velocity solution and the infinity-norm solution. Simulation results demonstrate that the proposed method is effective. © 1998 IEEE.

Original language	English
Title of host publication	Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
Publisher	IEEE
Pages	1719-1724
Volume	2
ISBN (Print)	078034300
DOIs	https://doi.org/10.1109/ROBOT.1998.677412
Publication status	Published - 1998
Event	15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium Duration: 16 May 1998 → 20 May 1998 https://ieeexplore.ieee.org/xpl/conhome/5562/proceeding

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
ISSN (Print)	1050-4729

Conference

Conference	15th IEEE International Conference on Robotics and Automation, ICRA 1998
Place	Belgium
City	Leuven
Period	16/05/98 → 20/05/98
Internet address	https://ieeexplore.ieee.org/xpl/conhome/5562/proceeding

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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Ding, H., & Tso, S. K. (1998). Minimum infinity-norm kinematic solution for redundant robots using neural networks. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (Vol. 2, pp. 1719-1724). Article 677412 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). IEEE. https://doi.org/10.1109/ROBOT.1998.677412

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abstract = "The aim of the paper is to develop a new method of applying computational intelligence for determining a minimum infinity-norm solution to the velocity inverse kinematics problem of redundant robots i.e. computing a joint velocity vector whose maximum absolute value component is minimum among all possible joint velocity vectors corresponding to the desired end-effector velocity. A fully neural-network-based (Tank-Hopfield network) computational scheme is proposed for its implementation. At each time step, the neural network produces both the least-norm joint velocity solution and the infinity-norm solution. Simulation results demonstrate that the proposed method is effective. {\textcopyright} 1998 IEEE.",

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language = "English",

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volume = "2",

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Ding, H & Tso, SK 1998, Minimum infinity-norm kinematic solution for redundant robots using neural networks. in Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. vol. 2, 677412, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2, IEEE, pp. 1719-1724, 15th IEEE International Conference on Robotics and Automation, ICRA 1998, Leuven, Belgium, 16/05/98. https://doi.org/10.1109/ROBOT.1998.677412

Minimum infinity-norm kinematic solution for redundant robots using neural networks. / Ding, H.; Tso, S. K.
Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Vol. 2 IEEE, 1998. p. 1719-1724 677412 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Minimum infinity-norm kinematic solution for redundant robots using neural networks

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AU - Tso, S. K.

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 1998

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N2 - The aim of the paper is to develop a new method of applying computational intelligence for determining a minimum infinity-norm solution to the velocity inverse kinematics problem of redundant robots i.e. computing a joint velocity vector whose maximum absolute value component is minimum among all possible joint velocity vectors corresponding to the desired end-effector velocity. A fully neural-network-based (Tank-Hopfield network) computational scheme is proposed for its implementation. At each time step, the neural network produces both the least-norm joint velocity solution and the infinity-norm solution. Simulation results demonstrate that the proposed method is effective. © 1998 IEEE.

AB - The aim of the paper is to develop a new method of applying computational intelligence for determining a minimum infinity-norm solution to the velocity inverse kinematics problem of redundant robots i.e. computing a joint velocity vector whose maximum absolute value component is minimum among all possible joint velocity vectors corresponding to the desired end-effector velocity. A fully neural-network-based (Tank-Hopfield network) computational scheme is proposed for its implementation. At each time step, the neural network produces both the least-norm joint velocity solution and the infinity-norm solution. Simulation results demonstrate that the proposed method is effective. © 1998 IEEE.

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SN - 078034300

VL - 2

T3 - Proceedings - IEEE International Conference on Robotics and Automation

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BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998

PB - IEEE

T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998

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ER -

Minimum infinity-norm kinematic solution for redundant robots using neural networks

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