Motion planning with obstacle avoidance for kinematically redundant manipulators based on two recurrent neural networks

Xiaolin Hu, Jun Wang, Bo Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Citations (Scopus)

Abstract

Inverse kinematic motion planning of redundant manipulators by using recurrent neural networks in the presence of obstacles and uncertainties is a real-time nonlinear optimization problem. To tackle this problem, two subproblems should be resolved in real time. One is the determination of critical points on a given manipulator closest to obstacles, and the other is the computation of joint velocities of the manipulator which can direct the manipulator following a desired trajectory and away from obstacles if it is getting close to them. Different from our previous approaches where the critical points on the manipulator were assumed to be known, these points are to be computed by using a recurrent neural network in the paper. A time-varying quadratic programming problem is formulated for avoiding polyhedral obstacles. In view that the problem is not strictly convex, an existing recurrent neural network, general projection neural network, is applied for solving it. By introducing a velocity smoothing technique into our previous quadratic programming formulation of the joint velocity assignment problem, a recently developed recurrent neural network, improved dual neural network, is proposed to solve it, which features lower structural complexity compared with existing neural networks. Moreover, The effectiveness of the proposed neural networks is demonstrated by simulations on the Mitsubishi PA10-7C manipulator.

Original languageEnglish
Title of host publicationProceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Pages137-142
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 - San Antonio, TX, United States
Duration: 11 Oct 200914 Oct 2009

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN (Print)1062-922X

Conference

Conference2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Country/TerritoryUnited States
CitySan Antonio, TX
Period11/10/0914/10/09

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