A dual neural network for kinematic control of redundant robot manipulators

Abstract

The inverse kinematics problem in robotics can be formulated as a time-varying quadratic optimization problem. A new recurrent neural network, called the dual network, is presented in this paper. The proposed neural network is composed of a single layer of neurons, and the number of neurons is equal to the dimensionality of the workspace. The proposed dual… (More)
DOI: 10.1109/3477.907574

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@article{Xia2001ADN, title={A dual neural network for kinematic control of redundant robot manipulators}, author={Youshen Xia and Jun Wang}, journal={IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society}, year={2001}, volume={31 1}, pages={147-54} }