A Dual Neural Network for Kinematic Control of Redundant Robot Manipulators.

Proposes a dual neural network composed of a single layer of neurons in which the number of neurons is equal to the dimensionality of the workplace. Real-time computation of the minimum two-norm joint velocity vector; Parametric quadratic programming problem with inequality constraints; Global asymptotical and exponential stability of the proposed dual neural network for kinematic control of redundant manipulators.