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
Comprehensive research and analysis on obstacle–singularity–joint limit avoidance of redundant robot
Sign Up to like & getrecommendations! Published in 2024 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/17298806241233910
Abstract: Redundant robots can complete other tasks while performing main task and have excellent motion performance. Although redundant robots have redundancy characteristics, they may still fall into singular configuration or cannot overcome joint limits due to… read more here.
Keywords: redundant robot; avoidance; robot; joint limit ... 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