ICIC '08 Proceedings of the 4th international conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications - with Aspects of Artificial Intelligence
Robotics and Computer-Integrated Manufacturing
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
Multicriteria optimization for coordination of redundant robots using a dual neural network
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on gait analysis
Robotics and Computer-Integrated Manufacturing
LSMS'07 Proceedings of the 2007 international conference on Life System Modeling and Simulation
Robotics and Computer-Integrated Manufacturing
Different-Level schemes' equivalence for self-motion planning of robot manipulators
AICI'12 Proceedings of the 4th international conference on Artificial Intelligence and Computational Intelligence
Journal of Intelligent and Robotic Systems
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In this paper, a recurrent neural network called the dual neural network is proposed for online redundancy resolution of kinematically redundant manipulators. Physical constraints such as joint limits and joint velocity limits, together with the drift-free criterion as a secondary task, are incorporated into the problem formulation of redundancy resolution. Compared to other recurrent neural networks, the dual neural network is piecewise linear and has much simpler architecture with only one layer of neurons. The dual neural network is shown to be globally (exponentially) convergent to optimal solutions. The dual neural network is simulated to control the PA10 robot manipulator with effectiveness demonstrated.