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Redundancy resolution of robotic manipulators with neural computation

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2 Author(s)
H. Ding ; Centre for Intelligent Design, Autom. & Manuf., City Univ. of Hong Kong, Kowloon, Hong Kong ; S. K. Tso

This letter presents a neural-network-based computational scheme for redundancy resolution of manipulators. The Tank-Hopfield (TH) network is adopted for pseudoinverse and inverse kinematics calculations and it can provide joint velocity and joint acceleration solutions within a time frame of the order of hundreds of nanoseconds. Incorporating the TH network into the redundancy resolution scheme allows planning algorithms to be implemented in real time. Simulation results for a three-link planar manipulator are presented to demonstrate that the proposed approach is efficient and practical

Published in:

IEEE Transactions on Industrial Electronics  (Volume:46 ,  Issue: 1 )