A set of nonlinear equations and inequalities arising in robotics and its online solution via a primal neural network

被引：64
|
作者：
Zhang, Yunong [1 ]
机构：
[1] Natl Univ Ireland, Hamilton Inst, Maynooth, Kildare, Ireland
来源：
NEUROCOMPUTING | 2006年 / 70卷 / 1-3期
关键词：
minimum effort inverse kinematics; nonuniqueness; discontinuity; nonlinear equations and inequalities; primal neural network;
D O I：
10.1016/j.neucom.2005.11.006
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, for handling general minimum-effort inverse-kinematic problems, the nonuniqueness condition is investigated. A set of nonlinear equations and inequality is presented for online nonuniqueness-checking. The concept and utility of primal neural networks (NNs) are introduced in this context of dynamical inequalities and constraints. The proposed primal NN can handle well such a nonlinear online-checking problem in the form of a set of nonlinear equations and inequality. Numerical examples demonstrate the effectiveness and advantages of the primal NN approach. (c) 2006 Elsevier B.V. All rights reserved.
引用
收藏
页码：513 / 524
页数：12
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