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Recurrent neural networks for inverse kinematics and inverse dynamics computation of redundant manipulators.

Tang Wai Sum. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references (leaves 68-70). / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Redundant Manipulators --- p.1 / Chapter 1.2 --- Inverse Kinematics of Robotic Manipulators --- p.2 / Chapter 1.3 --- Inverse Dynamics of Robotic Manipulators --- p.4 / Chapter 1.4 --- Redundancy Resolutions of Manipulators --- p.5 / Chapter 1.5 --- Motivation of Using Neural Networks for these Applications --- p.9 / Chapter 1.6 --- Previous Work for Redundant Manipulator Inverse Kinematics and Inverse Dynamics Computation by Neural Networks --- p.9 / Chapter 1.7 --- Advantages of the Proposed Recurrent Neural Networks --- p.11 / Chapter 1.8 --- Contribution of this work --- p.11 / Chapter 1.9 --- Organization of this thesis --- p.12 / Chapter 2 --- Problem Formulations --- p.14 / Chapter 2.1 --- Constrained Optimization Problems for Inverse Kinematics Com- putation of Redundant Manipulators --- p.14 / Chapter 2.1.1 --- Primal and Dual Quadratic Programs for Bounded Joint Velocity Minimization --- p.14 / Chapter 2.1.2 --- Primal and Dual Linear Programs for Infinity-norm Joint Velocity Minimization --- p.15 / Chapter 2.2 --- Constrained Optimization Problems for Inverse Dynamics Com- putation of Redundant Manipulators --- p.17 / Chapter 2.2.1 --- Quadratic Program for Unbounded Joint Torque Mini- mization --- p.17 / Chapter 2.2.2 --- Primal and Dual Quadratic Programs for Bounded Joint Torque Minimization --- p.18 / Chapter 2.2.3 --- Primal and Dual Linear Programs for Infinity-norm Joint Torque Minimization --- p.19 / Chapter 3 --- Proposed Recurrent Neural Networks --- p.20 / Chapter 3.1 --- The Lagrangian Network --- p.21 / Chapter 3.1.1 --- Optimality Conditions for Unbounded Joint Torque Min- imization --- p.21 / Chapter 3.1.2 --- Dynamical Equations and Architecture --- p.22 / Chapter 3.2 --- The Primal-Dual Network 1 --- p.24 / Chapter 3.2.1 --- Optimality Conditions for Bounded Joint Velocity Min- imization --- p.24 / Chapter 3.2.2 --- Dynamical Equations and Architecture for Bounded Joint Velocity Minimization --- p.26 / Chapter 3.2.3 --- Optimality Conditions for Bounded Joint Torque Mini- mization --- p.27 / Chapter 3.2.4 --- Dynamical Equations and Architecture for Bounded Joint Torque Minimization --- p.28 / Chapter 3.3 --- The Primal-Dual Network 2 --- p.29 / Chapter 3.3.1 --- Energy Function for Infinity-norm Joint Velocity Mini- mization Problem --- p.29 / Chapter 3.3.2 --- Dynamical Equations for Infinity-norm Joint Velocity Minimization --- p.30 / Chapter 3.3.3 --- Energy Functions for Infinity-norm Joint Torque Mini- mization Problem --- p.32 / Chapter 3.3.4 --- Dynamical Equations for Infinity-norm Joint Torque Min- imization --- p.32 / Chapter 3.4 --- Selection of the Positive Scaling Constant --- p.33 / Chapter 4 --- Stability Analysis of Neural Networks --- p.36 / Chapter 4.1 --- The Lagrangian Network --- p.36 / Chapter 4.2 --- The Primal-Dual Network 1 --- p.38 / Chapter 4.3 --- The Primal-Dual Network 2 --- p.41 / Chapter 5 --- Simulation Results and Network Complexity --- p.45 / Chapter 5.1 --- Simulation Results of Inverse Kinematics Computation in Re- dundant Manipulators --- p.45 / Chapter 5.1.1 --- Bounded Least Squares Joint Velocities Computation Using the Primal-Dual Network 1 --- p.46 / Chapter 5.1.2 --- Minimum Infinity-norm Joint Velocities Computation Us- ing the Primal-Dual Network 2 --- p.49 / Chapter 5.2 --- Simulation Results of Inverse Dynamics Computation in Redun- dant Manipulators --- p.51 / Chapter 5.2.1 --- Minimum Unbounded Joint Torques Computation Using the Lagrangian Network --- p.54 / Chapter 5.2.2 --- Minimum Bounded Joint Torques Computation Using the Primal-Dual Network 1 --- p.57 / Chapter 5.2.3 --- Minimum Infinity-norm Joint Torques Computation Us- ing the Primal-Dual Network 2 --- p.59 / Chapter 5.3 --- Network Complexity Analysis --- p.60 / Chapter 6 --- Concluding Remarks and Future Work --- p.64 / Publications Resulted from the Study --- p.66 / Bibliography --- p.68

Identiferoai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_322839
Date January 1999
ContributorsTang, Wai Sum., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering.
Source SetsThe Chinese University of Hong Kong
LanguageEnglish
Detected LanguageEnglish
TypeText, bibliography
Formatprint, ix, 70 leaves : ill. ; 30 cm.
RightsUse of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/)

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