Infinity-norm acceleration minimization of robotic redundant manipulators using the LVI-based primal-dual neural network

Robotics and Computer-Integrated Manufacturing

Volumn 25, Issue 2, 2009, Pages 358-365

  Zhang, Yunong ^a   Yin, Jiangping ^a   Cai, Binghuang ^a  

^a SUN YAT SEN UNIVERSITY   (China)

Author keywords

LVI based primal dual neural network; Minimum infinity norm acceleration; Quadratic programming (QP); Redundancy resolution

Indexed keywords

ACCELERATION; INVERSE KINEMATICS; NEURAL NETWORKS; QUADRATIC PROGRAMMING; QUALITY ASSURANCE; REDUNDANCY; REDUNDANT MANIPULATORS; ROBOTICS;

ABSOLUTE VALUES; ACCELERATION VECTORS; DYNAMIC SYSTEMS; ENERGY CRITERION; INFINITE NUMBERS; INFINITY NORMS; INSTABILITY PROBLEMS; INVERSE KINEMATIC SOLUTIONS; JOINT SPACES; KINEMATICALLY REDUNDANT MANIPULATORS; LVI-BASED PRIMAL-DUAL NEURAL NETWORK; MATRIX INVERSIONS; MATRIX MULTIPLICATIONS; MATRIXES; MINIMUM INFINITY-NORM ACCELERATION; MINIMUM-EFFORT SOLUTIONS; OPTIMIZATION MEASURES; PERFORMANCE MEASURES; PHYSICAL LIMITS; QUADRATIC PROGRAMMING PROBLEMS; REDUNDANCY RESOLUTION; ROBOT ARMS;

OPTIMIZATION;

EID: 63749104470     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.rcim.2008.02.002     Document Type: Article

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