Abstract:
Three neural networks and three numerical methods are investigated, developed, and compared to solve a repetitive motion planning (RMP) scheme for remedying joint-drift p...Show MoreMetadata
Abstract:
Three neural networks and three numerical methods are investigated, developed, and compared to solve a repetitive motion planning (RMP) scheme for remedying joint-drift problems of redundant robot manipulators. Three recurrent neural networks, i.e., a dual neural network, a linear variational inequality (LVI)-based primal-dual neural network, and a simplified LVI-based primal-dual neural network, are recurrent and real time, and they do not need to be trained in advance. Three numerical methods, i.e., the 94LVI method, the E47 method, and the M4 method, are time discrete and ready to conduct in digital computers. All these solutions have global linear convergence. Computer simulations and physical robot experiments verify that they are all effective to solve the RMP scheme. The comparisons show that neural networks are more accurate and faster than numerical methods on the same simulated condition under the majority normal circumstances. Furthermore, numerical methods are easy to be applied in digital computers since they are time discrete.
Published in: IEEE/ASME Transactions on Mechatronics ( Volume: 22, Issue: 3, June 2017)
Funding Agency:
School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
Zhijun Zhang (M’12) received the Ph.D. degree in communication
and information system from Sun Yat-Sen University, Guangzhou, China, in 2012. He is currently working toward the
master's degree in pattern recognition and intelligent system from the South China University of Technology,
Guangzhou.
He was a Postdoctoral Research Fellow at the Institute for Media Innovation, Nanyang Technological University,
Singapore, in ...Show More
Zhijun Zhang (M’12) received the Ph.D. degree in communication
and information system from Sun Yat-Sen University, Guangzhou, China, in 2012. He is currently working toward the
master's degree in pattern recognition and intelligent system from the South China University of Technology,
Guangzhou.
He was a Postdoctoral Research Fellow at the Institute for Media Innovation, Nanyang Technological University,
Singapore, in ...View more
School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
Lunan Zheng has been with the School of Automation Science and
Engineering, South China University of Technology, Guangzhou, China, since 2013. His current research interests
include robotics, neural networks, and machine learning.
Lunan Zheng has been with the School of Automation Science and
Engineering, South China University of Technology, Guangzhou, China, since 2013. His current research interests
include robotics, neural networks, and machine learning.View more
School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
Junming Yu received the bachelor's degree in automation from the
South China University of Technology, Guangzhou, China, in 2016.
Since 2016, he has been with Tanda Technology Co., Ltd., Shenzhen, China. His current research interests include
robotics, neural networks, and embedded system design.
Junming Yu received the bachelor's degree in automation from the
South China University of Technology, Guangzhou, China, in 2016.
Since 2016, he has been with Tanda Technology Co., Ltd., Shenzhen, China. His current research interests include
robotics, neural networks, and embedded system design.View more
School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
Yuanqing Li (F’16) received the Ph.D. degree in control theory
and applications from the South China University of Technology, Guangzhou, China, in 1997.
Since 1997, he has been with the South China University of Technology, where he became a Full Professor in 2004.
From 2002 to 2004, he was a Researcher in the Laboratory for Advanced Brain Signal Processing, RIKEN Brain Science
Institute, Saitama, Japan. From 2004 to 2...Show More
Yuanqing Li (F’16) received the Ph.D. degree in control theory
and applications from the South China University of Technology, Guangzhou, China, in 1997.
Since 1997, he has been with the South China University of Technology, where he became a Full Professor in 2004.
From 2002 to 2004, he was a Researcher in the Laboratory for Advanced Brain Signal Processing, RIKEN Brain Science
Institute, Saitama, Japan. From 2004 to 2...View more
School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
Zhuliang Yu received the Ph.D. degree in electronic engineering from
Nanyang Technological University, Singapore, in 2006.
He joined the Center for Signal Processing, Nanyang Technological University, as a Research Engineer in 2000, and
then as a Group Leader in 2001. In 2008, he joined the College of Automation Science and Engineering, South China
University of Technology, Guangzhou, China, where he became a Full Profe...Show More
Zhuliang Yu received the Ph.D. degree in electronic engineering from
Nanyang Technological University, Singapore, in 2006.
He joined the Center for Signal Processing, Nanyang Technological University, as a Research Engineer in 2000, and
then as a Group Leader in 2001. In 2008, he joined the College of Automation Science and Engineering, South China
University of Technology, Guangzhou, China, where he became a Full Profe...View more
Contents School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
Zhijun Zhang (M’12) received the Ph.D. degree in communication
and information system from Sun Yat-Sen University, Guangzhou, China, in 2012. He is currently working toward the
master's degree in pattern recognition and intelligent system from the South China University of Technology,
Guangzhou.
He was a Postdoctoral Research Fellow at the Institute for Media Innovation, Nanyang Technological University,
Singapore, in 2013–2015. Since 2015, he has been an Associate Professor with the School of Automation Science
and Engineering, South China University of Technology, Guangzhou. His current research interests include robotics,
neural networks, and human–robot interaction.
Zhijun Zhang (M’12) received the Ph.D. degree in communication
and information system from Sun Yat-Sen University, Guangzhou, China, in 2012. He is currently working toward the
master's degree in pattern recognition and intelligent system from the South China University of Technology,
Guangzhou.
He was a Postdoctoral Research Fellow at the Institute for Media Innovation, Nanyang Technological University,
Singapore, in 2013–2015. Since 2015, he has been an Associate Professor with the School of Automation Science
and Engineering, South China University of Technology, Guangzhou. His current research interests include robotics,
neural networks, and human–robot interaction.View more
School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
Lunan Zheng has been with the School of Automation Science and
Engineering, South China University of Technology, Guangzhou, China, since 2013. His current research interests
include robotics, neural networks, and machine learning.
Lunan Zheng has been with the School of Automation Science and
Engineering, South China University of Technology, Guangzhou, China, since 2013. His current research interests
include robotics, neural networks, and machine learning.View more
School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
Junming Yu received the bachelor's degree in automation from the
South China University of Technology, Guangzhou, China, in 2016.
Since 2016, he has been with Tanda Technology Co., Ltd., Shenzhen, China. His current research interests include
robotics, neural networks, and embedded system design.
Junming Yu received the bachelor's degree in automation from the
South China University of Technology, Guangzhou, China, in 2016.
Since 2016, he has been with Tanda Technology Co., Ltd., Shenzhen, China. His current research interests include
robotics, neural networks, and embedded system design.View more
School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
Yuanqing Li (F’16) received the Ph.D. degree in control theory
and applications from the South China University of Technology, Guangzhou, China, in 1997.
Since 1997, he has been with the South China University of Technology, where he became a Full Professor in 2004.
From 2002 to 2004, he was a Researcher in the Laboratory for Advanced Brain Signal Processing, RIKEN Brain Science
Institute, Saitama, Japan. From 2004 to 2008, he was a Research Scientist in the Laboratory for Neural Signal
Processing, Institute for Infocomm Research, Singapore. He has authored or co-authored more than 100 scientific papers
in journals and conference proceedings. His research interests include blind signal processing, sparse representation,
machine learning, brain–computer interface, EEG, and fMRI data analysis.
Yuanqing Li (F’16) received the Ph.D. degree in control theory
and applications from the South China University of Technology, Guangzhou, China, in 1997.
Since 1997, he has been with the South China University of Technology, where he became a Full Professor in 2004.
From 2002 to 2004, he was a Researcher in the Laboratory for Advanced Brain Signal Processing, RIKEN Brain Science
Institute, Saitama, Japan. From 2004 to 2008, he was a Research Scientist in the Laboratory for Neural Signal
Processing, Institute for Infocomm Research, Singapore. He has authored or co-authored more than 100 scientific papers
in journals and conference proceedings. His research interests include blind signal processing, sparse representation,
machine learning, brain–computer interface, EEG, and fMRI data analysis.View more
School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
Zhuliang Yu received the Ph.D. degree in electronic engineering from
Nanyang Technological University, Singapore, in 2006.
He joined the Center for Signal Processing, Nanyang Technological University, as a Research Engineer in 2000, and
then as a Group Leader in 2001. In 2008, he joined the College of Automation Science and Engineering, South China
University of Technology, Guangzhou, China, where he became a Full Professor in 2010. His research interests include
signal processing, pattern recognition, and machine learning and their applications in communications, biomedical
engineering, and robotics.
Zhuliang Yu received the Ph.D. degree in electronic engineering from
Nanyang Technological University, Singapore, in 2006.
He joined the Center for Signal Processing, Nanyang Technological University, as a Research Engineer in 2000, and
then as a Group Leader in 2001. In 2008, he joined the College of Automation Science and Engineering, South China
University of Technology, Guangzhou, China, where he became a Full Professor in 2010. His research interests include
signal processing, pattern recognition, and machine learning and their applications in communications, biomedical
engineering, and robotics.View more
