LAUSR

In this article, the repetitive motion control of redundant manipulators is investigated. First, a repetitive motion control scheme is presented, and a continuous zeroing neural network (CZNN) model is obtained for solving the scheme. Meanwhile, the development of a discrete zeroing neural network (DZNN) model is desired for convenient computational processing. Based on this, this article proposes a 6-step discretization formula, which has high precision. By using the 6-step discretization formula and the 4-step backward difference formula, a 6-step DZNN (6SDZNN) model is further proposed to handle the repetitive motion control scheme. Theoretical analyses verify the efficacy of the 6SDZNN model. Additionally, some discrete forms of conventional models are developed for comparison. Computer simulations on the basis of the 4-link redundant manipulator are carried out, verifying the theoretical analyses and showing the efficacy of the 6SDZNN model. Finally, physical experiments on the basis of the Kinova Jaco2 manipulator substantiate the practicability of the 6SDZNN model.