Tri-Projection Neural Network for Redundant Manipulators
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Circuits and Systems II: Express Briefs"
DOI: 10.1109/tcsii.2022.3189664
Abstract: Resolving redundancy for manipulators subject to various limits is significant in robotics. The problem is often handled by an optimization formulation with joint velocity being the decision variable, for which how to address the joint… read more here.
Keywords: neural network; network; network redundant; tri projection ... 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