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Content Provider | IEEE Xplore Digital Library |
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Author | Yunong Zhang Xuanjiao Lv Zhi Yang Zhonghua Li |
Copyright Year | 2007 |
Description | Author affiliation: Sun Yat-Sen Univ., Guangzhou (Yunong Zhang; Xuanjiao Lv; Zhi Yang; Zhonghua Li) |
Abstract | In this paper, a primal-dual neural network based on linear variational inequalities (LVI) is presented for online repetitive motion planning of kinematically redundant manipulators. To do this, a drift-free criterion is exploited. In addition, the physical constraints such as joint limits and joint velocity limits are incorporated into the problem formulation of such a scheme. The scheme is finally reformulated as a quadratic programming (QP) problem. As a QP real-time solver, the LVI-based primal-dual neural network is designed based on the QP-LVI conversion and Karush-Kuhn-Tucker (KKT) conditions. With simple piecewise-linear dynamics and global (exponential) convergence to optimal solutions, it can handle general QP and linear programming (LP) problems in the same inverse-free manner. The repetitive motion planning scheme and the LVI-based primal-dual neural network are simulated based on PA 10 robot manipulator with effectiveness demonstrated. |
Starting Page | 3138 |
Ending Page | 3143 |
File Size | 288521 |
Page Count | 6 |
File Format | |
ISBN | 9781424408276 |
DOI | 10.1109/ICMA.2007.4304063 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2007-08-05 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Neural networks Robots Quadratic programming Manipulator dynamics Sun Linear programming Motion planning Kinematics Mechatronics Automation repetitive motion planning LVI-based primal-dual neural network kine-matically redundant manipulators joint physical limits drift-free |
Content Type | Text |
Resource Type | Article |
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