Patchaikani, Prem, Behera, Laxmidhar and Prasad, G (2011) A Single Network Adaptive Critic based Redundancy Resolution Scheme for Robot Manipulators. IEEE Transactions on Industrial Electronics13 pp, DOI: 10.1109/TIE.2011.2143372 [Internet publication]
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This paper proposes an adaptive critic based realtime redundancy resolution scheme for kinematic control of a redundant manipulator. The kinematic control of the redundant manipulator is formulated as a discrete-time input affine system and then an optimal real-time redundancy resolution scheme is proposed. The optimal control law is derived in real-time using adaptive critic framework. The proposed single network adaptive critic based methodology defines the additional task in terms of integral cost function which results in global optimal solution. With adaptive critic based optimal control scheme, the optimal redundancy resolution is achieved in real-time without the computation of inverse which makes the method computationally efficient. The problem formulation as proposed in this paper is first of its kinds. Further the real-time optimal redundancy resolution using an integral cost function has been comprehensively solved which is also a novel contribution. The proposed scheme is tested in both simulation and experiment on a 7 degree of freedom (7DOF) PowerCubeTM manipulator from Amtec Robotics.
|Item Type:||Internet publication|
|Faculties and Schools:||Faculty of Computing & Engineering|
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
|Research Institutes and Groups:||Computer Science Research Institute > Intelligent Systems Research Centre|
Computer Science Research Institute
|Deposited By:||Professor Girijesh Prasad|
|Deposited On:||15 Jul 2011 09:21|
|Last Modified:||10 Aug 2011 10:12|
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