Obstacle avoidance for kinematically redundant manipulators using a dual neural network

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
Yunong Zhang, Jun Wang

Abstract

One important issue in the motion planning and control of kinematically redundant manipulators is the obstacle avoidance. In this paper, a recurrent neural network is developed and applied for kinematic control of redundant manipulators with obstacle avoidance capability. An improved problem formulation is proposed in the sense that the collision-avoidance requirement is represented by dynamically-updated inequality constraints. In addition, physical constraints such as joint physical limits are also incorporated directly into the formulation. Based on the improved problem formulation, a dual neural network is developed for the online solution to collision-free inverse kinematics problem. The neural network is simulated for motion control of the PA10 robot arm in the presence of point and window-shaped obstacle.

References

Feb 5, 2008·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·W S Tang, J Wang
Feb 5, 2008·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Y Xia, J Wang
Feb 7, 2008·IEEE Transactions on Neural Networks·J WangD Jiang
Feb 8, 2008·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·F T ChengY Y Sun

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Citations

Aug 19, 2011·IEEE Transactions on Neural Networks·Lin Xiao, Yunong Zhang
Apr 7, 2012·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Zhijun Zhang, Yunong Zhang
Oct 27, 2004·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Yunong ZhangTong Heng Lee
Aug 10, 2019·Frontiers in Neurorobotics·Xuefeng ZhouShuai Li
Nov 13, 2020·Frontiers in Neurorobotics·Weifeng ZhaoGuanrong Tang
Sep 24, 2005·Nano Letters·Andrea LomanderShuguang Zhang
Aug 12, 2021·Science Progress·Yong WangXuefeng Zhou

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