Recurrent-Neural-Network-Based Velocity-Level Redundancy Resolution for Manipulators Subject to a Joint Acceleration Limit

• Published in: IEEE transactions on industrial electronics (1982) Vol. 66; no. 5; pp. 3573 - 3582
• Main Authors: Zhang, Yinyan, Li, Shuai, Zhou, Xuefeng
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.05.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; Computer simulation; Joint limits; kinematic control; Kinematics; manipulator; Manipulator dynamics; Manipulators; neural network; Neural networks; Optimization; Recurrent neural networks; Redundancy; redundancy resolution; Velocity

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 co...