AUTHOR=Xiao Lin , Zhang Yongsheng , Liao Bolin , Zhang Zhijun , Ding Lei , Jin Long TITLE=A Velocity-Level Bi-Criteria Optimization Scheme for Coordinated Path Tracking of Dual Robot Manipulators Using Recurrent Neural Network JOURNAL=Frontiers in Neurorobotics VOLUME=11 YEAR=2017 URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2017.00047 DOI=10.3389/fnbot.2017.00047 ISSN=1662-5218 ABSTRACT=

A dual-robot system is a robotic device composed of two robot arms. To eliminate the joint-angle drift and prevent the occurrence of high joint velocity, a velocity-level bi-criteria optimization scheme, which includes two criteria (i.e., the minimum velocity norm and the repetitive motion), is proposed and investigated for coordinated path tracking of dual robot manipulators. Specifically, to realize the coordinated path tracking of dual robot manipulators, two subschemes are first presented for the left and right robot manipulators. After that, such two subschemes are reformulated as two general quadratic programs (QPs), which can be formulated as one unified QP. A recurrent neural network (RNN) is thus presented to solve effectively the unified QP problem. At last, computer simulation results based on a dual three-link planar manipulator further validate the feasibility and the efficacy of the velocity-level optimization scheme for coordinated path tracking using the recurrent neural network.