• DocumentCode
    1104412
  • 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
  • Volume
    44
  • Issue
    6
  • fYear
    2008
  • Firstpage
    436
  • Lastpage
    437
  • 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;
  • fLanguage
    English
  • Journal_Title
    Electronics Letters
  • Publisher
    iet
  • ISSN
    0013-5194
  • Type

    jour

  • DOI
    10.1049/el:20080455
  • Filename
    4472426
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1104412