Cooperative Kinematic Control for Multiple Redundant Manipulators Under Partially Known Information Using Recurrent Neural Network
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DOI: 10.1109/access.2020.2974248
Abstract: In this study, we investigate the problem of cooperative kinematic control for multiple redundant manipulators under partially known information using recurrent neural network (RNN). The communication among manipulators is modeled as a graph topology network… read more here.
Keywords: kinematic control; partially known; topology; redundant manipulators ... See more keywords
A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models
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DOI: 10.1109/jas.2022.105869
Abstract: Taking advantage of their inherent dexterity, robotic arms are competent in completing many tasks efficiently. As a result of the modeling complexity and kinematic uncertainty of robotic arms, model-free control paradigm has been proposed and… read more here.
Keywords: robotic arms; control; kinematic control; scheme ... See more keywords
Kinematic Control of Redundant Robots With Online Handling of Variable Generalized Hard Constraints
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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
Real-Time Kinematic Control for Redundant Manipulators in a Time-Varying Environment: Multiple-Dynamic Obstacle Avoidance and Fast Tracking of a Moving Object
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2019.2917392
Abstract: This paper presents a real-time kinematic control strategy to realize fast tracking of redundant robot manipulators in a time-varying environment. An obstacle avoidance method based on the law of conservation of energy is proposed to… read more here.
Keywords: kinematic control; time; obstacle; real time ... See more keywords