Distributed Recurrent Neural Networks for Cooperative Control of Manipulators: A Game-Theoretic Perspective

• Published in: IEEE transaction on neural networks and learning systems Vol. 28; no. 2; pp. 415 - 426
• Main Authors: Shuai Li, Jinbo He, Yangming Li, Rafique, Muhammad Usman
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.02.2017; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Computer simulation; Control stability; Cooperative Behavior; Cooperative control; Distributed control; dual neural network; End effectors; Game Theory; kinematic resolution; Kinematics; Manipulator dynamics; Manipulators; neural network; Neural networks; Neural Networks (Computer); Optimization; recurrent neural network; Recurrent neural networks; Redundancy; redundant manipulator; Robot arms

This paper considers cooperative kinematic control of multiple manipulators using distributed recurrent neural networks and provides a tractable way to extend existing results on individual manipulator control using recurrent neural networks to the scenario with the coordination of multiple manipula...