Adaptive critic based redundancy resolution scheme for robot manipulators

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

Volumn , Issue , 2009, Pages 3181-3186

  Prem, Kumar P ^a   Behera, Laxmidhar ^a,b   Prasad, Girijesh ^b  

^a INDIAN INSTITUTE OF TECHNOLOGY KANPUR   (India)

^b UNIVERSITY OF ULSTER   (United Kingdom)

Author keywords

Adaptive critic; Approximate dynamic programming; Inverse kinematic control; Redundant manipulator

Indexed keywords

ADAPTIVE CRITIC; APPROXIMATE DYNAMIC PROGRAMMING; COMPUTATIONALLY EFFICIENT; CRITIC NETWORK; DEGREE OF FREEDOM; DISCRETE-TIME OPTIMAL CONTROL PROBLEM; GLOBAL OPTIMUM; INVERSE KINEMATIC CONTROL; JACOBIANS; KINEMATIC CONTROL; LOCAL OPTIMA; NUMERICAL INSTABILITY; POWERCUBE; PSEUDO-INVERSES; REDUNDANCY RESOLUTION; ROBOT MANIPULATOR; TAKAGI-SUGENO;

COST FUNCTIONS; CYBERNETICS; DYNAMIC PROGRAMMING; INVERSE KINEMATICS; QUALITY ASSURANCE; REDUNDANCY; REDUNDANT MANIPULATORS; ROBOT APPLICATIONS;

ROBOT PROGRAMMING;

EID: 74849112107     PISSN: 1062922X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICSMC.2009.5346160     Document Type: Conference Paper

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