2019
DOI: 10.1155/2019/8642027
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Abstract: For repeatable motion of redundant mobile manipulators, the flexible base platform and the redundant manipulator have to be returned to the desired initial position simultaneously after completing the given tasks. To remedy deviations between initial position and desired position of each kinematic joint angle, a special kind of repeatable optimization for kinematic energy minimization based on terminal-time Zhang neural network (TTZNN) with finite-time convergence is proposed for inverse kinematics of mobile m… Show more

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Cited by 5 publications
(4 citation statements)
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References 45 publications
(62 reference statements)
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“…Owing to the derivative process that GRNN (26) originates from the error function ( 17), the gradient descent formula is designed to reduce the image error, thus ultimately achieving equality constraint (13). In the next place, the output control command is established at the acceleration level, which corresponds to the acceleration-level kinematics formula (12). Note that compensation item ϖ is the pseudoinverse solution of the system function in a stable state, i.e., the minimization of joint acceleration, which is equivalent to minimizing objective function (11).…”
Section: Neural Network Solutionmentioning
confidence: 99%
See 1 more Smart Citation
“…Owing to the derivative process that GRNN (26) originates from the error function ( 17), the gradient descent formula is designed to reduce the image error, thus ultimately achieving equality constraint (13). In the next place, the output control command is established at the acceleration level, which corresponds to the acceleration-level kinematics formula (12). Note that compensation item ϖ is the pseudoinverse solution of the system function in a stable state, i.e., the minimization of joint acceleration, which is equivalent to minimizing objective function (11).…”
Section: Neural Network Solutionmentioning
confidence: 99%
“…In current years, the kinematic control of redundant robots has become a research hotspot, thus drawing the attention of abundant scholars to expand their applications [12][13][14][15][16]. Zhang and Zhang present a minimum-velocity-norm (MVN) scheme for redundancy resolution of the redundant manipulators, which retains the robot joints within safe bounds [17].…”
Section: Introductionmentioning
confidence: 99%
“…According to the assumed mode method [24,25], the displacement of P point on the flexible manipulator can be expressed as 2 Complexity…”
Section: Dynamic Modelling and Decoupling Analysismentioning
confidence: 99%
“…Under the drive of the servomotors, the mobile manipulator can realize di erent industrial operations according to the design requirements. us, it is widely used in precision assembly, welding, handling, and other industrial occasions [1][2][3]. At present, the obvious disadvantage of the robot mobile manipulator system is its heavy structure.…”
mentioning
confidence: 99%