Different-Level Simultaneous Minimization Scheme for Fault Tolerance of Redundant Manipulator Aided with Discrete-Time Recurrent Neural Network

Different-Level Simultaneous Minimization Scheme for Fault Tolerance of Redundant Manipulator Aided with Discrete-Time Recurrent Neural Network

By incorporating the physical constraints in joint space, a different-level simultaneous minimization scheme, which takes both the robot kinematics and robot dynamics into account, is presented and investigated for fault-tolerant motion planning of redundant manipulator in this paper. The scheme is...

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Bibliographic Details
Main Authors: Long Jin, Bolin Liao, Mei Liu, Lin Xiao, Dongsheng Guo, Xiaogang Yan
Format: Article
Language:English
Published: Frontiers Media S.A. 2017-09-01
Series:Frontiers in Neurorobotics
Subjects:
redundant manipulator
different level
fault tolerance
physical constraint
discrete-time recurrent neural network
Online Access:http://journal.frontiersin.org/article/10.3389/fnbot.2017.00050/full

Internet

http://journal.frontiersin.org/article/10.3389/fnbot.2017.00050/full

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