Bi-criteria velocity minimization of robot manipulators using LVI-based primal-dual neural network and illustrated via PUMA560 robot arm.
Yunong ZhangKene LiPublished in: Robotica (2010)
Keyphrases
- primal dual
- robot arm
- robot manipulators
- inverse kinematics
- bicriteria
- neural network
- end effector
- linear programming
- joint angles
- linear program
- convex optimization
- efficient solutions
- control scheme
- fuzzy neural network
- motion planning
- convergence rate
- approximation algorithms
- control law
- objective function
- knapsack problem
- dynamic model
- control strategies
- back propagation
- optimal solution
- fuzzy logic
- bp neural network
- pid controller
- position and orientation
- nonlinear systems
- control system
- reinforcement learning
- prediction model
- multi objective
- artificial neural networks
- control strategy
- genetic algorithm
- closed loop
- np hard
- learning rate