کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
409952 | 679109 | 2012 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Decentralized kinematic control of a class of collaborative redundant manipulators via recurrent neural networks
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Decentralized kinematic control of a class of collaborative redundant manipulators via recurrent neural networks Decentralized kinematic control of a class of collaborative redundant manipulators via recurrent neural networks](/preview/png/409952.png)
چکیده انگلیسی
This paper studies the decentralized kinematic control of multiple redundant manipulators for the cooperative task execution problem. The problem is formulated as a constrained quadratic programming problem and then a recurrent neural network with independent modules is proposed to solve the problem in a distributed manner. Each module in the neural network controls a single manipulator in real time without explicit communication with others and all the modules together collectively solve the common task. The global stability of the proposed neural network and the optimality of the neural solution are proven in theory. Application orientated simulations demonstrate the effectiveness of the proposed method.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Neurocomputing - Volume 91, 15 August 2012, Pages 1–10
Journal: Neurocomputing - Volume 91, 15 August 2012, Pages 1–10
نویسندگان
Shuai Li, Sanfeng Chen, Bo Liu, Yangming Li, Yongsheng Liang,