CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Coordination of two redundant robots using a dual neural network
Zeng-Guang Hou; Long Cheng; Min Tan
2006
Conference Name IEEE International Joint Conference on Neural Network
Conference DateJUL 16-21, 2006
Conference PlaceVancouver
CountryCanada
AbstractReal-time control of multi-robot coordination system has attracted a lot of attention in recent years. Traditional numerical algorithm is ineffective to perform this task. In this paper, a dual neural network approach is applied to resolve the coordination problem of two redundant robots. By this approach, the joint torque and distributed load can be obtained by optimizing a multiple criteria, and the physical limits of the joint torque and distributed load can be also incorporated into the control scheme. The dual neural network has a simple structure which is composed of only one layer of neuron array. The network configuration is updated by the command signals of desired acceleration of the grasped object, and the output of the network is the manipulator's joint torque. A simulation example is presented to demonstrate the effectiveness of the dual neural network method.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23163
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
GB/T 7714
Zeng-Guang Hou,Long Cheng,Min Tan. Coordination of two redundant robots using a dual neural network[C],2006.
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