Lin Xiao, Yongsheng Zhang, Bolin Liao, Zhijun Zhang, Lei Ding, Long Jin
Abstract
A dual-robot system is a robotic device composed of two robot arms. To eliminate the joint-angle drift and prevent the occurrence of high joint velocity, a velocity-level bi-criteria optimization scheme, which includes two criteria (i.e., the minimum velocity norm and the repetitive motion), is proposed and investigated for coordinated path tracking of dual robot manipulators. Specifically, to realize the coordinated path tracking of dual robot manipulators, two subschemes are first presented for the left and right robot manipulators. After that, such two subschemes are reformulated as two general quadratic programs (QPs), which can be formulated as one unified QP. A recurrent neural network (RNN) is thus presented to solve effectively the unified QP problem. At last, computer simulation results based on a dual three-link planar manipulator further validate the feasibility and the efficacy of the velocity-level optimization scheme for coordinated path tracking using the recurrent neural network.
This research output has an Altmetric Attention Score of 1. This is our high-level measure of the quality and quantity of online attention that it has received. This Attention Score, as well as the ranking and number of research outputs shown below, was calculated when the research output was last mentioned on 09 October 2017.
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#18,571,001
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Outputs from Frontiers in Neurorobotics
#582
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#242,036
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Outputs of similar age from Frontiers in Neurorobotics
#15
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