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Inverse kinematic motion planning of redundant manipulators by using recurrent neural networks in the presence of obstacles and uncertainties is a real-time nonlinear optimization problem. To tackle this problem, two subproblems should be resolved in real time. One is the determination of critical points on a given manipulator closest to obstacles, and the other is the computation of joint velocities...
Most existing neural networks for solving linear variational inequalities (LVIs) with the mapping Mx + p require positive definiteness (or positive semidefiniteness) of M. In this correspondence, it is revealed that this condition is sufficient but not necessary for an LVI being strictly monotone (or monotone) on its constrained set where equality constraints are present. Then, it is proposed to reformulate...
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