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Erschienen in:
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2018 | OriginalPaper | Buchkapitel

3. Neural Networks for Robot Arm Cooperation with a Hierarchical Control Topology

verfasst von : Shuai Li, Yinyan Zhang

Erschienen in: Neural Networks for Cooperative Control of Multiple Robot Arms

Verlag: Springer Singapore

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Abstract

This chapter studies the decentralized robot arm cooperation with a hierarchical control topology. We present in this chapter a novel strategy capable of solving the problem even though there exists some robot arms unable to access the command signal directly. The cooperative task execution problem can be formulated as a constrained quadratic programming problem. By replacing the command signal with estimations with neighbor information, the control law becomes to work in the partial command coverage situation. We then prove in theory that the system indeed also globally stabilizes to the optimal solution of the constrained quadratic optimization problem. Simulations demonstrate the effectiveness of the method presented in this chapter.

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Metadaten
Titel
Neural Networks for Robot Arm Cooperation with a Hierarchical Control Topology
verfasst von
Shuai Li
Yinyan Zhang
Copyright-Jahr
2018
Verlag
Springer Singapore
Buch
Neural Networks for Cooperative Control of Multiple Robot Arms

Print ISBN: 978-981-10-7036-5

Electronic ISBN: 978-981-10-7037-2

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-981-10-7037-2_3

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