Neural-Dynamic Based Synchronous-Optimization Scheme of Dual Redundant Robot Manipulators

• Published in: Frontiers in neurorobotics Vol. 12; p. 73
• Main Authors: Zhang, Zhijun, Zhou, Qiongyi, Fan, Weisen
• Format: Journal Article
• Language: English
• Published: Switzerland Frontiers Research Foundation 08.11.2018; Frontiers Media S.A
• Subjects: acceleration-level; Automation; complex tasks; Cooperation; Design optimization; dual-redundant-manipulators; Inequality; International conferences; Kinematics; Methods; motion planning; neural dynamic method; Neural networks; redundant robot; Researchers; Robotics and AI; Robots; Velocity; dual-redundant-manipulators; neural dynamic method; motion planning; acceleration-level; redundant robot; complex tasks
• ISSN: 1662-5218; 1662-5218
• DOI: 10.3389/fnbot.2018.00073

In order to track complex-path tasks in three dimensional space without joint-drifts, a neural-dynamic based synchronous-optimization (NDSO) scheme of dual redundant robot manipulators is proposed and developed. To do so, an acceleration-level repetitive motion planning optimization criterion is der...