Neural network based control scheme for redundant robot manipulators subject to multiple self-motion criteria
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Publication:1931055
DOI10.1016/j.mcm.2011.10.007zbMath1255.93097MaRDI QIDQ1931055
Nagarajan Sukavanam, Hadrendra Pal Singh
Publication date: 24 January 2013
Published in: Mathematical and Computer Modelling (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.mcm.2011.10.007
Lyapunov stability; uncertainties; feed-forward neural network; redundant manipulator; multiple self-motion criteria
93D05: Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory
93C85: Automated systems (robots, etc.) in control theory
70B15: Kinematics of mechanisms and robots
70E60: Robot dynamics and control of rigid bodies
68T40: Artificial intelligence for robotics
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Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator, Constraint finite-time control of redundant manipulators
Cites Work
- On multiple secondary task execution of redundant nonholonomic mobile manipulators
- Neural network-based nonlinear tracking control of kinematically redundant robot manipulators
- Robust adaptive control of redundant manipulators
- Modeling and adaptive control of redundant robots
- Dynamic control of redundant manipulators
- Redundancy resolution through local optimization: A review
