TY - JOUR
T1 - A Gradient Neural Network for online Solving the Time-varying Inverse Kinematics Problem of Four-wheel Mobile Robotic Arm
AU - Zhou, Yanpeng
AU - Liu, K
AU - Li, Chunxu
AU - Wang, Gang
AU - Liu, Y
AU - Sun, Zhongbo
PY - 2021/5/14
Y1 - 2021/5/14
N2 - In this paper, a gradient neural network (GNN) is presented, analyzed and discussed to solve the time-varying inverse kinematics solution of the four-wheel mobile robotic arm, which can approximate the time varying inverse kinematics solution. A monolithic kinematics model of mobile robotic arm is established, and the inverse kinematics solution can synchronously coordinate the control of the mobile platform and the robotic arm to accomplish the task of the end-executor. Besides, the computer numerical results are provided to attest validity and high exactitude of GNN model in settling the time-varying inverse kinematics of a four-wheel mobile robotic arm.
AB - In this paper, a gradient neural network (GNN) is presented, analyzed and discussed to solve the time-varying inverse kinematics solution of the four-wheel mobile robotic arm, which can approximate the time varying inverse kinematics solution. A monolithic kinematics model of mobile robotic arm is established, and the inverse kinematics solution can synchronously coordinate the control of the mobile platform and the robotic arm to accomplish the task of the end-executor. Besides, the computer numerical results are provided to attest validity and high exactitude of GNN model in settling the time-varying inverse kinematics of a four-wheel mobile robotic arm.
UR - https://pearl.plymouth.ac.uk/context/secam-research/article/1444/viewcontent/0110_final.pdf
U2 - 10.1109/ddcls52934.2021.9455633
DO - 10.1109/ddcls52934.2021.9455633
M3 - Conference proceedings published in a journal
SN - 2767-9861
VL - 0
SP - 391
EP - 396
JO - 2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS)
JF - 2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS)
IS - 0
T2 - 2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS)
Y2 - 14 May 2021 through 16 May 2021
ER -