Analog VLSI and neural systems
Analog VLSI and neural systems
A Fast Approach for Robot Motion Planning
Journal of Intelligent and Robotic Systems
Torque Optimizing Control with Singularity-Robustness for Kinematically Redundant Robots
Journal of Intelligent and Robotic Systems
Analysis and design of recurrent neural networks and their applications to control and robotic systems
Motion Planning for Redundant Manipulators Using a Floating Point Genetic Algorithm
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
A Neural Network Adaptive Controller for End-effector Tracking of Redundant Robot Manipulators
Journal of Intelligent and Robotic Systems
Springer Handbook of Robotics
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
Contour Tracking of a Redundant Robot Using Integral Variable Structure Control with Output Feedback
Journal of Intelligent and Robotic Systems
A Dual Neural Network for Kinematic Control of Redundant Manipulators Using Input Pattern Switching
Journal of Intelligent and Robotic Systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A singularity-free motion control algorithm for robot manipulators-a hybrid system approach
Automatica (Journal of IFAC)
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
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In J Robot Syst 13(3):177---185 (1996), Ma proposed an efficient technique to stabilize local torque optimization solution of redundant manipulators, which prevents occurrence of high joint-velocity and guarantees the final joint-velocity to be near zero. To prevent the same problems, a different-level simultaneous minimization scheme is proposed in this paper for robotic redundancy resolution, which combines the minimum two-norm joint-velocity and joint-torque solutions via two weighting factors. Physical constraints such as joint-angle limits, joint-velocity limits and joint-acceleration limits are also taken into consideration in such a scheme-formulation. Moreover, the proposed different-level simultaneous minimization scheme is resolved at the joint-acceleration level and reformulated as a general quadratic program (QP). Computer-simulation results based on the PUMA560 robot manipulator performing different types of end-effector path-tracking tasks demonstrate the validity and advantage of the proposed different-level simultaneous minimization scheme. Furthermore, experimental verification conducted on a practical six-link planar robot manipulator substantiates the effectiveness and the physical realizability of the proposed scheme.