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A repetitive-motion-planning (RMP) scheme at the acceleration-level of redundant robot manipulators is proposed, and its equivalence to the RMP scheme at velocity-level is discovered and investigated. Both theoretical analysis via neural-dynamic method and computer simulations performed on PUMA 560 robot manipulator demonstrate the efficacy of the proposed acceleration-level RMP scheme, and validate...
A gradient neural network (GNN) for solving online a set of simultaneous linear equations is generalized and investigated in this paper. Instead of the earlier-presented asymptotical convergence, global exponential convergence could be proved for such a class of neural networks. In addition, superior convergence could be achieved using power-sigmoid activation-functions, compared with using linear...
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