2018
DOI: 10.1002/oca.2417
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Optimal zeroing dynamics with applications to control of serial and parallel manipulators

Abstract: Summary The appearance of robot manipulators has dramatically improved the productivity in manufacturing. Serial and parallel manipulators are 2 classes of most popularly investigated manipulators, which have been playing an important role in robotic domain for a long time. Optimal control theory is a widely employed method that can achieve the objective constrained by some equations as subtasks, whereas zeroing dynamics is another powerful method to solve time‐varying problems with an exponential rate of erro… Show more

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Cited by 4 publications
(1 citation statement)
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“…One significant issue in the research of robot systems is the motion planning and control problem. Up to now, a large number of effective approaches for robot systems have been creatively proposed and effectively employed, such as the neural networks approach, [137] the active control approach, [138] the robust control approach, [139] the optimal control approach, [140] etc. In this survey, we aim to provide a comprehensive review on the research of neural networks (or to say, neural dynamics) in robot autonomy.…”
Section: Introductionmentioning
confidence: 99%
“…One significant issue in the research of robot systems is the motion planning and control problem. Up to now, a large number of effective approaches for robot systems have been creatively proposed and effectively employed, such as the neural networks approach, [137] the active control approach, [138] the robust control approach, [139] the optimal control approach, [140] etc. In this survey, we aim to provide a comprehensive review on the research of neural networks (or to say, neural dynamics) in robot autonomy.…”
Section: Introductionmentioning
confidence: 99%