Distributed Manipulability optimization in a Finite Time Neural Network for Redundant Manipulators

A distributed manipulability optimization (DMO) scheme based on a finite time neural network is proposed in this paper to solve the cooperative motion planning of redundant manipulators. In this proposed kinematic scheme, the end-effectors of the manipulators can complete the specific task in a cooperative manner under peer-to-peer communication and the optimal kinematic time of redundant manipulators has achieved. The DMO scheme is formulated into a quadratic program and is solved by Lagrange multiplier theorem. The stability and finiteness of the proposed DMO scheme have been proved in theory. Simulation results on three redundant manipulators show the validity and accuracy of this new DMO scheme. method