Analysis and design of recurrent neural networks and their applications to control and robotic systems
Springer Handbook of Robotics
Robotics and Computer-Integrated Manufacturing
Robotics and Autonomous Systems
Bi-criteria torque minimization of redundant robot arms with schemes, models and methods compared
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Obstacle avoidance for kinematically redundant manipulators using a dual neural network
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A recurrent neural network for solving Sylvester equation with time-varying coefficients
IEEE Transactions on Neural Networks
IEEE Transactions on Neural Networks
Design and analysis of a general recurrent neural network model for time-varying matrix inversion
IEEE Transactions on Neural Networks
Journal of Intelligent and Robotic Systems
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To remedy the joint-torque instability/divergence phenomenon arising in the conventional infinity-norm torque-minimization (INTM) scheme, and prevent the occurrence of high joint-velocity and joint-acceleration as well, a different-level bi-criteria minimization scheme is proposed and investigated in this paper for redundant robot manipulators with physical constraints (e.g., joint-angle limits, joint-velocity limits and joint-acceleration limits) considered. Such a scheme combines the minimum two-norm joint-velocity and infinity-norm joint-torque solutions via a weighting factor, which guarantees the final joint-velocity of the motion to be near zero (more acceptable for engineering application). In addition, the different-level scheme is reformulated as a general quadratic program (QP) and resolved at the joint-acceleration level. Computer-simulation results based on the PUMA560 robot manipulator further demonstrate the effectiveness and advantages of the proposed different-level bi-criteria minimization scheme for robotic redundancy resolution.