| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 694440 | Acta Automatica Sinica | 2013 | 4 Pages |
Abstract
A repetitive-motion-planning (RMP) scheme at the acceleration-level of redundant robot manipulators is proposed, and its equivalence to the RMP scheme at velocity-level is discovered and investigated. Both theoretical analysis via neural-dynamic method and computer simulations performed on PUMA 560 robot manipulator demonstrate the efficacy of the proposed acceleration-level RMP scheme, and validate the equivalence of the RMP schemes at two different levels.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
