Compatible Convex-Nonconvex Constrained QP-Based Dual Neural Networks for Motion Planning of Redundant Robot Manipulators.
Zhijun ZhangSiyuan ChenShuai LiPublished in: IEEE Trans. Control. Syst. Technol. (2019)
Keyphrases
- robot manipulators
- trajectory planning
- motion planning
- neural network
- convex optimization
- inverse kinematics
- quadratic program
- primal dual
- degrees of freedom
- fuzzy neural network
- control scheme
- path planning
- mobile robot
- robot arm
- dynamic model
- end effector
- linear programming
- quadratic programming
- humanoid robot
- fuzzy logic
- obstacle avoidance
- multi robot
- neural network model
- objective function
- global optimization
- convex sets
- fuzzy systems
- back propagation
- artificial neural networks
- control strategy
- feed forward
- linear program
- linear constraints
- climbing robot
- fault diagnosis
- dynamic environments
- multi modal
- vision system
- support vector machine
- control system
- computer vision