期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 59, 期 8, 页码 3146-3155出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2011.2106092
关键词
Equivalence; neural dynamics; quadratic programming (QP); redundancy resolution; robot arms
资金
- National Natural Science Foundation of China [61075121, 60935001]
- Program for New Century Excellent Talents in University [NCET-07-0887]
- Yat-sen Innovative Talents Cultivation Program for Excellent Tutors
- Fundamental Research Funds for the Central Universities of China
To solve the inverse kinematic problem of redundant robot manipulators, two redundancy-resolution schemes are investigated: one is resolved at joint-velocity level, and the other is resolved at joint-acceleration level. Both schemes are reformulated as a quadratic programming (QP) problem. Two recurrent neural networks (RNNs) are then developed for the online solution of the resultant QP problem. The first RNN solver is based on the gradient-descent method and is termed as gradient neural network (GNN). The other solver is based on Zhang et al.'s neural-dynamic method and is termed as Zhang neural network (ZNN). The computer simulations performed on a three-link planar robot arm and the PUMA560 manipulator demonstrate the efficacy of the two redundancy-resolution schemes and two RNN QP-solvers presented, as well as the superiority of the ZNN QP-solver compared to the GNN one. More importantly, the simulation results show that the solutions of the two presented schemes fit well with each other, i.e., the two different-level redundancy-resolution schemes could be equivalent in some sense. The theoretical analysis based on the gradient-descent method and Zhang et al.'s neural-dynamic method further substantiates the new finding about the different-level redundancy-resolution equivalence.
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