Bi-criteria torque optimization of redundant manipulators based on a simplified dual neural network

Proceedings of the International Joint Conference on Neural Networks

Volumn 5, Issue , 2005, Pages 2796-2801

  Liu, Shubao ^a   Wang, Jun ^a  

^a CHINESE UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

[No Author keywords available]

Indexed keywords

ENERGY UTILIZATION; OPTIMIZATION; PROBLEM SOLVING; REDUNDANT MANIPULATORS; TORQUE;

DUAL NETWORK; TORQUE DISTRIBUTION; TORQUE LIMITS; TORQUE OPTIMIZATION;

NEURAL NETWORKS;

EID: 33750101901     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IJCNN.2005.1556368     Document Type: Conference Paper

References (16)

1. J.M. Hollerbach and K.C. Suh, "Redundancy resolution of manipulators through torque optimization," IEEE Trans. on Robot. and Automat., vol. RA-3, pp. 308-315, 1987.
2. A. Nedungadi and K. Kazerouinian. "A local solution with global characteristics for joint torque optimization of a redundant manipulator," J. Robot. Syst., vol. 6, no. 5, pp. 631-654, 1989.
3. I.C. Shim and Y.S. Yoon, "Stabilized minimum infinity-norm torque solution for redundant manipulators," Robotica, vol. 16, pp. 1993-205, 1998.
4. H. Ding and S.K. Tso, "Redundancy resolution of robotic manipulators with neural computation," IEEE Transactions on Industrial Electronics, vol. 46, no. 1, pp. 230-233, 1999.
5. W.S. Tang and J. Wang, "Two recurrent neural networks for local joint torque optimization of kinematically redundant manipulators," IEEE Trans. Syst. Man Cyber., vol. 30, no. 1, pp. 120-128, Feb. 2000.
6. Y. Zhang and J. Wang, "A dual neural network for constrained torque optimization of kinematically redundant manipulators," IEEE Trans. Syst. Man Cyber, vol. 32, no. 5, pp. 654-662, Oct. 2002.
7. Y. Zhang, J. Wang, and Y.S. Xu, "A dual neural network for bi-criteria kinematic control of redundant manipulators," IEEE Trans. Robot. Automat., vol. 18, no. 6, pp. 923-931, Dec. 2002.
8. S. Liu and J. Wang, "A dual neural network for bi-criteria torque optimization of redundant robot manipulators," in Proceedings of International Conferene on Neural Information Processing. 2004, vol. LNCS 3316, pp. 1142-1147, Springer-Verlag, Berlin, Germany.
9. J. Hertz, The Handbook of Brain Theory and Neural Networks, chapter Computing with Attractors, pp. 248-252, The MIT Press, 2 edition, 2002.
10. M.P. Kennedy and L.O. Chua, "Neural networks for nonlinear programming," IEEE Transactions on Circuits and Systems, vol. 35, no. 5, pp. 554-562, May 1988.
11. S. Zhang and A. G. Constantinides, "Lagrange programming neural networks," IEEE Transactions on Circuits and Systems II, vol. 39, no. 7, pp. 441-452, July 1992.
12. Y. Xia and J. Wang, "A dual neural network for kinematic control of redundant robot manipulators," IEEE Trans. Syst., Man, Cybern. B, vol. 31, pp. 147-154, Jan. 2001.
13. Y. Xia, "A new neural network for solving linear and quadratic programming problems," IEEE Transactions on Neural Networks, vol. 7, no. 6, pp. 1544-1547, November 1996.
14. Y. Xia, G. Feng, and J. Wang, "A primal-dual neural network for online resolving constrained kinematic redundancy in robot motion control," IEEE Transactions on Systems, Man, and Cybernetics B, vol. 35, no. 1, pp. 54-64, Feb. 2005.
15. Y. Zhang and J. Wang, "A dual neural network for convex quadratic programming subject to linear equality and inequality constraints," Physics Letters A, pp. 271-278, June 2002.
16. S. Boyd and L. Vandenbeghe, Convex Optimization, Cambridge Uniersity Press, Cambridge, UK, 2004.