A Data-Driven Sparse Motion Planning Scheme for Redundant Manipulators

A large number of motion control schemes have been developed for redundant manipulators in the past few decades to solve their control problems. These resolutions are often based on the structure information of a manipulator being precisely known and require the manipulator to adopt a full-level joi...

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Bibliographic Details
Published in:IEEE transactions on circuits and systems. II, Express briefs Express briefs, 2023-07, Vol.70 (7), p.1-1
Main Authors: Jin, Long, Zhao, Jinchuan, Li, Shuai
Format: Article
Language:English
Subjects:
Actuation
End effectors
Jacobian matrices
Kinematics
Manipulator dynamics
Manipulators
Motion control
Motion planning
Neural networks
Planning
Redundancy
Robot arms
Task analysis
Trajectory
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Summary:A large number of motion control schemes have been developed for redundant manipulators in the past few decades to solve their control problems. These resolutions are often based on the structure information of a manipulator being precisely known and require the manipulator to adopt a full-level joint actuation way when performing a given trajectory tracking task. To solve the problem of controlling redundant manipulators with model unknown in a sparse manner, a data-driven sparse motion planning (DSMP) scheme and the corresponding dynamic neural network (DNN) are proposed in this brief. Simulative experiments confirm the effectiveness and superiority of the proposed scheme solved by DNN.
ISSN:1549-7747
1558-3791
DOI:10.1109/TCSII.2023.3240458