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

Authors :
Youshen Xia
Jun Wang
Source :
IEEE Transactions on Systems, Man & Cybernetics: Part B. Feb2001, Vol. 31 Issue 1, p147. 8p. 2 Diagrams, 5 Graphs.
Publication Year :
2001

Abstract

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.

Details

Language :
English
ISSN :
10834419
Volume :
31
Issue :
1
Database :
Academic Search Index
Journal :
IEEE Transactions on Systems, Man & Cybernetics: Part B
Publication Type :
Academic Journal
Accession number :
4249715
Full Text :
https://doi.org/10.1109/3477.907574