Bi-criteria kinematic control of redundant manipulators using a dual neural network

Yunong Zhang, Jun Wang

Research output: Contribution to conferencePaperpeer-review

3 Citations (Scopus)

Abstract

A dual neural network is presented for the bi-criteria kinematic control of redundant manipulators. To diminish the discontinuity problem of minimum effort solutions, the neural kinematic-control scheme is formulated in the bi-criteria sense of the infinity and Euclidean norms. Physical constraints such as joint limits and joint velocity limits are incorporated simultaneously into the proposed online control scheme. The dual neural network is shown to be globally exponentially convergent to optimal solutions in the bi-criteria sense. The neural network is simulated to control the PA10 robot manipulator with effectiveness demonstrated.

Original languageEnglish
Pages41-46
Number of pages6
Publication statusPublished - 2002
Externally publishedYes
Event2002 International Joint Conference on Neural Networks (IJCNN '02) - Honolulu, HI, United States
Duration: 12 May 200217 May 2002

Conference

Conference2002 International Joint Conference on Neural Networks (IJCNN '02)
Country/TerritoryUnited States
CityHonolulu, HI
Period12/05/0217/05/02

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