Two/infinity norm criteria resolution of manipulator redundancy at joint-acceleration level using primal-dual neural network

DOI10.1002/ASJC.485MaRDI QIDQ5417015zbMATH OpenOpenAlexFDO

Authors

Publication date 15 May 2014

Published in Asian Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/asjc.485

zbMATH Keywords

bi-criteria acceleration minimizationlinear variational inequalities (LVI)primal-dual neural networkPUMA560 robot manipulatorquadratic program (QP)quadratic programming

Mathematics Subject Classification ID

Quadratic programming (90C20) Neural networks for/in biological studies, artificial life and related topics (92B20) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Applications of Damped Least-Squares Methods to Resolved-Rate and Resolved-Acceleration Control of Manipulators
• Torque optimization schemes for kinematically redundant manipulators

Cited in

(5)

• Improved neural dynamics for online Sylvester equations solving
• Parametric Solutions to the Generalized Discrete Yakubovich-Transpose Matrix Equation
• Bi-criteria optimal control of redundant robot manipulators using LVI-based primal-dual neural network
• Improved recurrent neural networks for online solution of Moore-Penrose inverse applied to redundant manipulator kinematic control
• Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators

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