AUTHOR=Jin Long , Liao Bolin , Liu Mei , Xiao Lin , Guo Dongsheng , Yan Xiaogang 

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

JOURNAL=Frontiers in Neurorobotics

VOLUME=11

YEAR=2017

URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2017.00050

DOI=10.3389/fnbot.2017.00050

ISSN=1662-5218

ABSTRACT=<p>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 reformulated as a quadratic program (QP) with equality and bound constraints, which is then solved by a discrete-time recurrent neural network. Simulative verifications based on a six-link planar redundant robot manipulator substantiate the efficacy and accuracy of the presented acceleration fault-tolerant scheme, the resultant QP and the corresponding discrete-time recurrent neural network.</p>