Linked Life Data

19923050

Source:http://linkedlifedata.com/resource/pubmed/id/19923050

Statements in which the resource exists as a subject.
PredicateObject
rdf:type
lifeskim:mentions
pubmed:issue
4
pubmed:dateCreated
2010-7-27
pubmed:abstractText
A dual neural-network method for the coordination of kinematically redundant robots is proposed in this paper. The performance criteria for single robots provided by Nedungadi and Kazerounian are generalized to a multicriteria form for the coordinated-manipulation system composed of multiple serial manipulators. By optimizing the local joint torques and generalized forces applied on the object/workpiece using a designed weighting matrix, the proposed method achieves the global stability during the coordinated-manipulation process. Moreover, the proposed algorithm has an explicit physical meaning, i.e., both the global kinetic energy of the coordination system and the two-norm of the generalized forces applied on the object are minimized simultaneously. In addition, the physical limits of both joint torques and the generalized forces applied on the object are considered, which makes the original coordination problem become a complicated optimization problem subject to both equality and inequality constraints. Compared with numerical optimization algorithms used in existing literatures, the dual neural-network method has better computational capability to deal with the complicated optimization problem. Finally, illustrative examples are given to show that the proposed method is effective and efficient for the multirobot coordinated-manipulation system.
pubmed:language
eng
pubmed:journal
pubmed:citationSubset
IM
pubmed:status
MEDLINE
pubmed:month
Aug
pubmed:issn
1941-0492
pubmed:author
pubmed:issnType
Electronic
pubmed:volume
40
pubmed:owner
NLM
pubmed:authorsComplete
Y
pubmed:pagination
1075-87
pubmed:meshHeading
pubmed:year
2010
pubmed:articleTitle
Multicriteria optimization for coordination of redundant robots using a dual neural network.
pubmed:affiliation
Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, China. zengguang.hou@ia.ac.cn
pubmed:publicationType
Journal Article, Research Support, Non-U.S. Gov't