The tracking control of redundant manipulators plays a crucial role in robotics research and generally requires accurate knowledge of models of redundant manipulators. When the model information of a redundant manipulator is unknown, the trajectory-tracking control with model-based methods may fail to complete a given task. To this end, this article proposes a data-driven neural dynamics-based model predictive control (NDMPC) algorithm, which consists of a model predictive control (MPC) scheme, a neural dynamics (ND) solver, and a discrete-time Jacobian matrix (DTJM) updating law. With the help of the DTJM updating law, the future output of the model-unknown redundant manipulator is predicted, and the MPC scheme for trajectory tracking is constructed. The ND solver is designed to solve the MPC scheme to generate control input driving the redundant manipulator. The convergence of the proposed data-driven NDMPC algorithm is proven via theoretical analyses, and its feasibility and superiority are demonstrated via simulations and experiments on a redundant manipulator. Under the drive of the proposed algorithm, the redundant manipulator successfully carries out the trajectory-tracking task without the need for its kinematics model.
Download full-text PDF |
Source |
|---|---|
| http://dx.doi.org/10.1109/TCYB.2024.3408254 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Robotically assisted mitral valve repair using the butterfly technique in a patient with a narrow chest.
J Cardiothorac Surg
January 2025
Department of Cardiovascular Surgery, Sapporo Cardio Vascular Clinic, 8-1, Kita 49 jyo, Higashi 16 jyo, Higashi-ku, Sapporo, Hokkaido, 007-0849, Japan.
Background: Minimally invasive cardiac surgery for mitral regurgitation is challenging in patients with narrow chests due to limited thoracic space. The butterfly technique can prevent systolic anterior motion in patients with degenerative mitral regurgitation and redundant posterior leaflets, but it is difficult to perform via minimally invasive cardiac surgery. Few reports have described mitral valve repair using the butterfly technique or in a narrow chest.
View Article and Find Full Text PDFA Whole-Body Coordinated Motion Control Method for Highly Redundant Degrees of Freedom Mobile Humanoid Robots.
Biomimetics (Basel)
December 2024
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China.
Humanoid robots are becoming a global research focus. Due to the limitations of bipedal walking technology, mobile humanoid robots equipped with a wheeled chassis and dual arms have emerged as the most suitable configuration for performing complex tasks in factory or home environments. To address the high redundancy issue arising from the wheeled chassis and dual-arm design of mobile humanoid robots, this study proposes a whole-body coordinated motion control algorithm based on arm potential energy optimization.
View Article and Find Full Text PDFmultimutants enable efficient identification of SPI-2 effector protein function in gut inflammation and systemic colonization.
bioRxiv
December 2024
Institute of Microbiology, ETH Zurich, Zurich, Switzerland.
enterica spp. rely on translocation of effector proteins through the SPI-2 encoded type III secretion system (T3SS) to achieve pathogenesis. More than 30 effectors contribute to manipulation of host cells through diverse mechanisms, but interdependency or redundancy between effectors complicates the discovery of effector phenotypes using single mutant strains.
View Article and Find Full Text PDFGastropods are major contributors to a range of key ecosystem services on intertidal rock platforms, supporting trophic structure in both terrestrial and marine contexts and manipulating habitat complexity. However, the functional structure of these assemblages is rarely examined across broad spatial scales. Here, we describe patterns in gastropod functional diversity, redundancy and vulnerability to functional loss across a latitudinal gradient following the west coast of Australia (18° S-34° S).
View Article and Find Full Text PDFImage based visual servoing with kinematic singularity avoidance for mobile manipulator.
PeerJ Comput Sci
November 2024
University Center for Exact Sciences and Engineering, Universidad de Guadalajara, Guadalajara, Jalisco, Mexico.
This article presents an implementation of visual servoing (VS) for a redundant mobile manipulator in an eye-in-hand configuration. We used the image based visual servoing (IBVS) scheme, which means the pose control of the robot is based on the error features in the image of a camera. Conventional eye-in-hand VS requires the inversion of a Jacobian matrix, which can become rank deficient, provoking kinematic singularities.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!