Title :
Effective neural remedy for drift phenomenon of planar three-link robot arm using quadratic performance index
Author :
Zhang, Y. ; Lv, X. ; Li, Z. ; Yang, Z. ; Zhu, H.
Author_Institution :
Sun Yat-Sen Univ., Guangzhou
Abstract :
A quadratic performance index is investigated for the online neural remedy for drift phenomenon of redundant robot manipulators. Computer simulations performed based on a three-link planar robot arm show the efficacy of such a quadratic-index based neural-remedy scheme.
Keywords :
neurocontrollers; path planning; performance index; quadratic programming; redundant manipulators; QP-based repetitive motion planning scheme; drift phenomenon; online neural remedy; planar three-link robot arm; quadratic performance index; quadratic programming; redundant robot manipulators;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:20080455
