Redundant arm kinematic control with recurrent loop (Q1345265)

A new method for generating redundant arm inverse kinematic solutions based on the iterative update of joint vectors is presented. A novel neural network architecture with a recurrent loop is formed based on the proposed method. The pseudoinverse of the gradient of a Lyapunov function is defined in the joint space to update the joint vector toward a solution. This differs from the conventional methods based on the Jacobian pseudoinverse or Jacobian transpose. This paper establishes explicit convergence control schemes to achieve fast and stable convergence. The proposed neural network consists of a feedforward network and a feedback network forming a recurrent loop. The simulation results illustrate that the proposed method is effective for the real- time kinematic control of a redundant arm as well as the real-time generation of collision-free joint trajectories.