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- Title
Design and experimentation of acceleration-level drift-free scheme aided by two recurrent neural networks.
- Authors
Zhijun Zhang; Yunong Zhang
- Abstract
To solve the joint-angle and joint-velocity drift problems in cyclic motion of redundant robot manipulators, an acceleration-level drift-free (ALDF) scheme subject to a linear equality constraint is proposed, of which the effectiveness is analysed and proved via the theory of second-order system. The scheme is then reformulated into a quadratic program (QP). Furthermore, two recurrent neural networks (RNNs) are developed for solving the resultant QP problem. The first RNN solver is based on Zhang et al's neural-dynamic method and called Zhang neural network (ZNN), whereas the other is based on the gradient-descent method and called gradient neural network (GNN). Comparison results based on computer simulations between the ZNN and GNN solvers with a circular-path tracking task demonstrate that the ZNN solver has faster convergence and fewer errors. In addition, the hardware experiments of tracking a straight-line path and a rhombic path based on a six degrees of freedom manipulator validate the physical realisability and efficacy of the proposed ALDF scheme and the two RNN QP-solvers. Moreover, the position, velocity and acceleration error analyses indicate the accuracy of the proposed ALDF scheme and the corresponding RNN QP-solvers.
- Subjects
ACCELERATION (Mechanics); RECURRENT neural networks; MANIPULATORS (Machinery); QUADRATIC programming; NEURAL circuitry
- Publication
IET Control Theory & Applications (Wiley-Blackwell), 2013, Vol 7, Issue 1, p25
- ISSN
1751-8644
- Publication type
Article
- DOI
10.1049/iet-cta.2011.0573