Manipulability Optimization of Redundant Manipulators Using Dynamic Neural Networks
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2017.2674624
Abstract: For solving the singularity problem arising in the control of manipulators, an efficient way is to maximize its manipulability. However, it is challenging to optimize manipulability effectively because it is a nonconvex function to the… read more here.
Keywords: manipulability; optimization; optimization redundant; manipulability optimization ... See more keywords
Perturbed Manipulability Optimization in a Distributed Network of Redundant Robots
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2020.3007099
Abstract: For avoiding a singularity arising in the cooperative control of multiple redundant robot manipulators, an efficient way is to maximize the manipulability. In this article, by making progress along this direction, a distributed manipulability optimization… read more here.
Keywords: network redundant; manipulability optimization; manipulability; distributed network ... See more keywords