An Acceleration-Level Data-Driven Repetitive Motion Planning Scheme for Kinematic Control of Robots With Unknown Structure
文献类型：期刊论文
| 作者 | Xie, Zhengtai1; Jin, Long1; Luo, Xin2 ; Hu, Bin1; Li, Shuai1
|
| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
 |
| 出版日期 | 2021-12-06 |
| 页码 | 13 |
| ISSN号 | 2168-2216 |
| 关键词 | Robots Manipulators Service robots Kinematics Recurrent neural networks Planning Redundancy Acceleration level data-driven technology kinematic control of robots recurrent neural network (RNN) repetitive motion planning (RMP) |
| DOI | 10.1109/TSMC.2021.3129794 |
| 通讯作者 | Hu, Bin(bh@lzu.edu.cn) |
| 英文摘要 | It is generally considered that controlling a robot precisely becomes tough on the condition of unknown structure information. Applying a data-driven approach to the robot control with the unknown structure implies a novel feasible research direction. Therefore, in this article, as a combination of the structural learning and robot control, an acceleration-level data-driven repetitive motion planning (DDRMP) scheme is proposed with the corresponding recurrent neural network (RNN) constructed. Then, theoretical analyses on the learning and control abilities are provided. Moreover, simulative experiments on employing the acceleration-level DDRMP scheme as well as the corresponding RNN to control a Sawyer robot and a Baxter robot with unknown structure information are performed. Accordingly, simulation results validate the feasibility of the proposed method and comparisons among the existing repetitive motion planning (RMP) schemes indicate the superiority of the proposed method. This work offers sufficient theoretical and simulative solutions for the acceleration-level redundancy problem of redundant robots with unknown structure and joint limits considered. |
| 资助项目 | National Natural Science Foundation of China[62176109] ; National Key Research and Development Program of China[2017YFE0118900] ; CIE-Tencent Robotics X Rhino-Bird Focused Research Program[2021-01] ; Natural Science Foundation of Chongqing, China[cstc2020jcyjzdxmX0028] ; Chinese Academy of Sciences Light of West China Program ; Natural Science Foundation of Gansu Province[21JR7RA531] ; Natural Science Foundation of Gansu Province[20JR10RA639] ; Special Projects of the Centra Government in Guidance of Local Science and Technology Development ; Gansu Provincial Youth Doctoral Fund of Colleges and Universities[2021QB-003] ; Fundamental Research Funds for the Central Universities[lzujbky2021-it35] ; Fundamental Research Funds for the Central Universities[lzujbky-2021-65] |
| WOS研究方向 | Automation & Control Systems ; Computer Science |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:000732097600001 |
| 源URL | [http://119.78.100.138/handle/2HOD01W0/14737]  |
| 专题 | 中国科学院重庆绿色智能技术研究院 |
| 通讯作者 | Hu, Bin |
| 作者单位 | 1.Lanzhou Univ, Sch Informat Sci & Engn, Lanzhou 730000, Peoples R China 2.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing Key Lab Big Data & Intelligent Comp, Chongqing 400714, Peoples R China |
| 推荐引用方式 GB/T 7714 | Xie, Zhengtai,Jin, Long,Luo, Xin,et al. An Acceleration-Level Data-Driven Repetitive Motion Planning Scheme for Kinematic Control of Robots With Unknown Structure[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021:13. |
| APA | Xie, Zhengtai,Jin, Long,Luo, Xin,Hu, Bin,&Li, Shuai.(2021).An Acceleration-Level Data-Driven Repetitive Motion Planning Scheme for Kinematic Control of Robots With Unknown Structure.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,13. |
| MLA | Xie, Zhengtai,et al."An Acceleration-Level Data-Driven Repetitive Motion Planning Scheme for Kinematic Control of Robots With Unknown Structure".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2021):13. |
入库方式： OAI收割
来源：重庆绿色智能技术研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。