A primal-dual neural network for online resolving constrained kinematic redundancy in robot motion control

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 35, Issue 1, 2005, Pages 54-64

  Xia, Youshen S ^a   Feng, Gang ^b   Wang, Jun ^c  

^a NANJING UNIVERSITY   (China)

^b CITY UNIVERSITY OF HONG KONG   (Hong Kong)

^c CHINESE UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

Constrained kinematic redundancy; Joint velocity; Joints limits; Primal dual neural network

Indexed keywords

COMPUTATIONAL COMPLEXITY; COMPUTER SIMULATION; CONSTRAINT THEORY; INVERSE KINEMATICS; MATRIX ALGEBRA; MOTION CONTROL; REDUNDANT MANIPULATORS;

CONSTRAINED KINEMATIC REDUNDANCY; JOINT VELOCITY; JOINTS LIMITS; PRIMAL DUAL NEURAL NETWORK;

NEURAL NETWORKS;

ALGORITHM; ARTICLE; ARTIFICIAL NEURAL NETWORK; BIOMECHANICS; COMPUTER SIMULATION; EVALUATION; FEEDBACK SYSTEM; METHODOLOGY; MOVEMENT (PHYSIOLOGY); ONLINE SYSTEM; ROBOTICS; THEORETICAL MODEL;

ALGORITHMS; BIOMECHANICS; COMPUTER SIMULATION; FEEDBACK; MODELS, THEORETICAL; MOVEMENT; NEURAL NETWORKS (COMPUTER); ONLINE SYSTEMS; ROBOTICS;

EID: 13644253420     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2004.839913     Document Type: Article

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