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In this paper, a criterion is proposed in the form of a quadratic function for the purpose of self-motion planning of redundant robot arms. The proposed self-motion scheme with joint physical limits considered could be formulated as a quadratic programming (QP) problem subject to equality, (inequality) and bound constraints. A primal-dual neural network based on linear variational inequalities (LVI)...
This paper presents a simplified primal-dual neural network based on linear variational inequalities (LVI) for online repetitive motion planning of PA10 robot manipulator. To do this, a drift-free criterion is exploited in the form of a quadratic function. In addition, the repetitive-motion-planning scheme could incorporate the joint limits and joint velocity limits simultaneously. Such a scheme is...
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