Recurrent-Neural-Network-Based Velocity-Level Redundancy Resolution for Manipulators Subject to a Joint Acceleration Limit
| العنوان: | Recurrent-Neural-Network-Based Velocity-Level Redundancy Resolution for Manipulators Subject to a Joint Acceleration Limit |
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| المؤلفون: | Shuai Li, Yinyan Zhang, Xuefeng Zhou |
| المصدر: | IEEE Transactions on Industrial Electronics. 66:3573-3582 |
| بيانات النشر: | Institute of Electrical and Electronics Engineers (IEEE), 2019. |
| سنة النشر: | 2019 |
| مصطلحات موضوعية: | Recurrent neural network, Joint acceleration, Artificial neural network, Control and Systems Engineering, Computer science, Control theory, 020208 electrical & electronic engineering, 0202 electrical engineering, electronic engineering, information engineering, Redundancy (engineering), 02 engineering and technology, Kinematics, Electrical and Electronic Engineering, Inner loop |
| الوصف: | For the safe operation of redundant manipulators, physical constraints such as the joint angle, joint velocity, and joint acceleration limits should be taken into account when designing redundancy resolution schemes. Velocity-level redundancy resolution schemes are widely adopted in the kinematic control of redundant manipulators due to the existence of the well-tuned inner loop regarding the joint velocity control. However, it is difficult to deal with joint acceleration limits for velocity-level redundancy resolution methods. In this paper, a recurrent-neural-network-based velocity-level redundancy resolution method is proposed to deal with the problem, and theoretical results are given to guarantee its performance. By the proposed method, the end-effector position error is asymptotically convergent to zero, and all the joint limits are not violated. The effectiveness and superiority of the proposed scheme are validated via simulation results. |
| تدمد: | 1557-9948 0278-0046 |
| DOI: | 10.1109/tie.2018.2851960 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::c05758cd7a7d464847e731698938e435 https://doi.org/10.1109/tie.2018.2851960 |
| Rights: | CLOSED |
| رقم الانضمام: | edsair.doi...........c05758cd7a7d464847e731698938e435 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 15579948 02780046 |
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| DOI: | 10.1109/tie.2018.2851960 |