Design of Interval Type-2 Fractional-Order Fuzzy Logic Controller for Redundant Robot with Artificial Bee Colony
Sign Up to like & getrecommendations! Published in 2019 at "Arabian Journal for Science and Engineering"
DOI: 10.1007/s13369-018-3207-1
Abstract: A five-degree of freedom redundant robot manipulator is a MIMO, extremely nonlinear and dynamically coupled system wherein the parameter variations, external disturbances, and random noise adversely affect the system performances. From this, it necessitates that… read more here.
Keywords: system; order; controller; fractional order ... See more keywords
Hybrid-Level Joint-Drift-Free Scheme of Redundant Robot Manipulators Synthesized by a Varying-Parameter Recurrent Neural Network
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Access"
DOI: 10.1109/access.2018.2850758
Abstract: For a redundant robot manipulator, the external perturbation and digital computation errors are inevitable when executing a tracking task. In this paper, a hybrid-level joint-drift-free (HL-JDF) scheme is proposed and synthesized by a novel varying-parameter… read more here.
Keywords: scheme; robot; redundant robot; neural network ... See more keywords
Bicriteria Velocity Minimization Approach of Self-Motion for Redundant Robot Manipulators With Varying-Gain Recurrent Neural Network
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Cognitive and Developmental Systems"
DOI: 10.1109/tcds.2021.3054999
Abstract: In this article, a varying-gain neural bicriterion velocity minimization self-motion (VGN-BCVM-SM) approach is proposed to solve the self-motion problem for a redundant robot manipulator. First, based on quadratic programming (QP) method and neural dynamic method,… read more here.
Keywords: redundant robot; approach; self motion; velocity minimization ... See more keywords
Discrete-Time Circadian Rhythms Neural Network for Perturbed Redundant Robot Manipulators Tracking Problem With Periodic Noises
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2021.3065715
Abstract: Via the Euler forward-difference rule, an Euler-type discrete-time circadian rhythms neural network model (E-DTCRNN) is proposed, developed, and investigated for motion planning of the redundant robot manipulator affected by periodic noises. In this article, an… read more here.
Keywords: neural network; discrete time; redundant robot;
A General Framework of Motion Planning for Redundant Robot Manipulator Based on Deep Reinforcement Learning
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2021.3125447
Abstract: Motion planning and its optimization is vital and difficult for redundant robot manipulator in an environment with obstacles. In this article, a general motion planning framework that integrates deep reinforcement learning (DRL) is proposed to… read more here.
Keywords: motion planning; redundant robot; framework; planning ... See more keywords
Globally Optimal Inverse Kinematics Method for a Redundant Robot Manipulator with Linear and Nonlinear Constraints
Sign Up to like & getrecommendations! Published in 2020 at "Robotics"
DOI: 10.3390/robotics9030061
Abstract: This paper presents a novel inverse kinematics global method for a redundant robot manipulator performing a tracking maneuver. The proposed method, based on the choice of appropriate initial joint trajectories that satisfy the kinematic constraints… read more here.
Keywords: inverse kinematics; method redundant; method; kinematics ... See more keywords