Three Recurrent Neural Networks and Three Numerical Methods for Solving a Repetitive Motion Planning Scheme of Redundant Robot Manipulators

2017 ◽  
Vol 22 (3) ◽  
pp. 1423-1434 ◽  
Author(s):  
Zhijun Zhang ◽  
Lunan Zheng ◽  
Junming Yu ◽  
Yuanqing Li ◽  
Zhuliang Yu
Keyword(s):  
Neural Networks ◽  
Numerical Methods ◽  
Motion Planning ◽  
Recurrent Neural Networks ◽  
Robot Manipulators ◽  
Repetitive Motion ◽  
Redundant Robot ◽  
Planning Scheme

New repetitive motion planning scheme with cube end-effector planning precision for redundant robotic manipulators

Robotica ◽  
2021 ◽  
pp. 1-22
Author(s):  
Limin Shen ◽  
Yuanmei Wen
Keyword(s):  
Theoretical Analysis ◽  
Motion Planning ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Repetitive Motion ◽  
End Effector ◽  
Difference Formula ◽  
Planning Scheme ◽  
Simulation Results ◽  
The Difference

Abstract Repetitive motion planning (RMP) is important in operating redundant robotic manipulators. In this paper, a new RMP scheme that is based on the pseudoinverse formulation is proposed for redundant robotic manipulators. Such a scheme is derived from the discretization of an existing RMP scheme by utilizing the difference formula. Then, theoretical analysis and results are presented to show the characteristic of the proposed RMP scheme. That is, this scheme possesses the characteristic of cube pattern in the end-effector planning precision. The proposed RMP scheme is further extended and studied for redundant robotic manipulators under joint constraint. Based on a four-link robotic manipulator, simulation results substantiate the effectiveness and superiority of the proposed RMP scheme and its extended one.

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