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The mature analysis formula has been well used in the robotic forward kinematics for redundant manipulators, but the inverse-kinematics (IK) question is complex. Many methods have been adopted to resolve the complicated inverse-kinematics problem; for example, the previous pseudo-inverse based (PIB) method that have to calculate the computationally expensive inverse (specifically, pseudo-inverse)...
In this paper, a convergence-enhanced gradient neural network (CEGNN) is proposed and investigated for solving online Sylvester equation that is widely used in the control community. Different from the conventional gradient neural network (CGNN), the proposed CEGNN model possesses a specially-constructed nonlinear activation function, and thus possesses the better convergence performance (i.e., finite-time...
To solve nonrepetitive problems, this brief proposes and investigates a novel repetitive motion planning (RMP) scheme (termed acceleration-level RMP scheme), which is resolved at the joint-acceleration level rather than at the joint-velocity level. The scheme is then reformulated as a quadratic program (QP) subject to equality and bound constraints. For the purposes of experimentation, a discrete-time...
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