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A Single Network Adaptive Critic based Redundancy Resolution Scheme for Robot Manipulators

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

Patchaikani, Prem Kumar, Behera, Laxmidhar and Prasad, Girijesh (2012) A Single Network Adaptive Critic based Redundancy Resolution Scheme for Robot Manipulators. IEEE Transactions on Industrial Electronics, 59 (8). pp. 3241-3253. [Journal article]

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URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5751674

DOI: 10.1109/TIE.2011.2143372

Abstract

This paper proposes an adaptive critic based realtime redundancy resolution scheme for kinematic control of a redundant manipulator. The kinematic control of the redundant manipulator is formulated as a discrete-time input affine system and then an optimal real-time redundancy resolution scheme is proposed. The optimal control law is derived in real-time using adaptive critic framework. The proposed single network adaptive critic based methodology defines the additional task in terms of integral cost function which results in global optimal solution. With adaptive critic based optimal control scheme, the optimal redundancy resolution is achieved in real-time without the computation of inverse which makes the method computationally efficient. The problem formulation as proposed in this paper is first of its kinds. Further the real-time optimal redundancy resolution using an integral cost function has been comprehensively solved which is also a novel contribution. The proposed scheme is tested in both simulation and experiment on a 7 degree of freedom (7DOF) PowerCubeTM manipulator from Amtec Robotics.

Item Type:Journal article
Keywords:Adaptive Critic , Approximate Dynamic Programming , Inverse Kinematic Control , Redundancy Resolution , Redundant Manipulator
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:21053
Deposited By:Dr Laxmidhar Behera
Deposited On:14 Feb 2012 16:10
Last Modified:20 Apr 2012 11:23

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