Different-Level Redundancy-Resolution And Its Equivalent Relationship Analysis For Robot Manipulators Using Gradient-Descent And Zhang Et Al.'S Neural-Dynamic Methods

Cai, B; Zhang, Y

Different-Level Redundancy-Resolution And Its Equivalent Relationship Analysis For Robot Manipulators Using Gradient-Descent And Zhang Et Al.'S Neural-Dynamic Methods

Cai, B Zhang, Y

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Publisher:: IEEE-Inst Electrical Electronics Engineers Inc
Publication Type:: Journal Article
Citation:: Ieee Transactions On Industrial Electronics, 2012, 59 (8), pp. 3146 - 3155
Issue Date:: 2012-01

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Field	Value	Language
dc.contributor.author	Cai, B	en_US
dc.contributor.author	Zhang, Y	en_US
dc.date.issued	2012-01	en_US
dc.identifier.citation	Ieee Transactions On Industrial Electronics, 2012, 59 (8), pp. 3146 - 3155	en_US
dc.identifier.issn	0278-0046	en_US
dc.identifier.uri	http://hdl.handle.net/10453/22334
dc.description.abstract	To solve the inverse kinematic problem of redundant robot manipulators, two redundancy-resolution schemes are investigated: one is resolved at joint-velocity level, and the other is resolved at joint-acceleration level. Both schemes are reformulated as a	en_US
dc.publisher	IEEE-Inst Electrical Electronics Engineers Inc	en_US
dc.relation.ispartof	Ieee Transactions On Industrial Electronics	en_US
dc.relation.isbasedon	10.1109/TIE.2011.2106092	en_US
dc.rights	© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.subject.classification	Electrical & Electronic Engineering	en_US
dc.title	Different-Level Redundancy-Resolution And Its Equivalent Relationship Analysis For Robot Manipulators Using Gradient-Descent And Zhang Et Al.'S Neural-Dynamic Methods	en_US
dc.type	Journal Article
utslib.citation.volume	8	en_US
utslib.citation.volume	59	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	08 Information and Computing Sciences	en_US
utslib.for	09 Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access
pubs.consider-herdc	false	en_US
pubs.issue	8	en_US
pubs.volume	59	en_US

Abstract:

To solve the inverse kinematic problem of redundant robot manipulators, two redundancy-resolution schemes are investigated: one is resolved at joint-velocity level, and the other is resolved at joint-acceleration level. Both schemes are reformulated as a

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http://hdl.handle.net/10453/22334