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A recurrent neural network for minimum infinity-norm kinematic control of redundant manipulators with an improved problem formulation and reduced architecture complexity

2001; Institute of Electrical and Electronics Engineers; Volume: 31; Issue: 1 Linguagem: Inglês

10.1109/3477.907567

1941-0492

Wai Sum Tang, Jun Wang,

Robot Manipulation and Learning

This paper presents an improved neural computation where scheme for kinematic control of redundant manipulators based on infinity-norm joint velocity minimization. Compared with a previous neural network approach to minimum infinity-non kinematic control, the present approach is less complex in terms of cost of architecture. The recurrent neural network explicitly minimizes the maximum component of the joint velocity vector while tracking a desired end-effector trajectory. The end-effector velocity vector for a given task is fed into the neural network from its input and the minimum infinity-norm joint velocity vector is generated at its output instantaneously. Analytical results are given to substantiate the asymptotic stability of the recurrent neural network. The simulation results of a four-degree-of-freedom planar robot arm and a seven-degree-of-freedom industrial robot are presented to show the proposed neural network can effectively compute the minimum infinity-norm solution to redundant manipulators.