Kinematic Control of Redundant Robots With Online Handling of Variable Generalized Hard Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3190832
Abstract: We present a generalized version of the Saturation in the Null Space (SNS) algorithm for task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian… read more here.
Keywords: control redundant; robots online; kinematic control; online handling ... See more keywords
A Data-Driven Cyclic-Motion Generation Scheme for Kinematic Control of Redundant Manipulators
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2019.2963017
Abstract: Redundant manipulators are no doubt indispensable devices in industrial production. There are various works on the redundancy resolution of redundant manipulators in performing a given task with the manipulator model information known. However, it becomes… read more here.
Keywords: control; cyclic motion; redundant manipulators; control redundant ... See more keywords
A Dual Fuzzy-Enhanced Neurodynamic Scheme for Model-Less Kinematic Control of Redundant and Hyperredundant Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Fuzzy Systems"
DOI: 10.1109/tfuzz.2022.3152077
Abstract: Tracking control of redundant and hyperredundant manipulators is a fundamental and critical problem in practical applications. In order to effectively decrease the end-effector position errors, a novel dual fuzzy-enhanced neurodynamic (DFEN) scheme is put forward… read more here.
Keywords: fuzzy enhanced; control redundant; control; dual fuzzy ... See more keywords
New Varying-Parameter Recursive Neural Networks for Model-Free Kinematic Control of Redundant Manipulators With Limited Measurements
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2022.3161713
Abstract: Taking advantage of the computational efficacy, the recursive neural network (RNN) has been successfully applied to the tracking control of redundant manipulators. However, the existing control system based on the fixed-parameter RNN (FP-RNN) model is… read more here.
Keywords: rnn; control redundant; control; parameter ... See more keywords