Multicriteria Optimization for Coordination of Redundant Robots Using a Dual Neural Network
文献类型：期刊论文
| 作者 | Hou, Zeng-Guang ; Cheng, Long; Tan, Min
|
| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
 |
| 出版日期 | 2010-08-01 |
| 卷号 | 40期号:4页码:1075-1087 |
| 关键词 | Coordinated manipulation coordination dual neural network multiple criteria neural networks optimization redundant robots |
| 英文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics |
| 研究领域[WOS] | Automation & Control Systems ; Computer Science |
| 关键词[WOS] | JOINT TORQUE OPTIMIZATION ; HIERARCHICAL-OPTIMIZATION ; VARIATIONAL-INEQUALITIES ; DYNAMIC-SYSTEMS ; MANIPULATORS ; ENVIRONMENTS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000282348400009 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3448]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Hou, Zeng-Guang,Cheng, Long,Tan, Min. Multicriteria Optimization for Coordination of Redundant Robots Using a Dual Neural Network[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,2010,40(4):1075-1087. |
| APA | Hou, Zeng-Guang,Cheng, Long,&Tan, Min.(2010).Multicriteria Optimization for Coordination of Redundant Robots Using a Dual Neural Network.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,40(4),1075-1087. |
| MLA | Hou, Zeng-Guang,et al."Multicriteria Optimization for Coordination of Redundant Robots Using a Dual Neural Network".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 40.4(2010):1075-1087. |
入库方式： OAI收割
来源：自动化研究所
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