August 2024
Intermediate to advanced
355 pages
11h 19m
English
Content preview from Zhang Time Discretization (ZTD) Formulas and Applications
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Chapter 14Minimum Joint Motion Control of Redundant Manipulators
Abstract
As a significant and basic sub topic of robotics, the problem of optimal motion planning and control of redundant manipulators is widely existing in many fields, such as industry and daily life. Following previous works, this chapter aims to solve the problem of velocity-layer minimum joint motion control (VLMJMC) of redundant manipulators in a discrete-time form. First, by applying the approach of Lagrange multipliers and zeroing neural network (ZNN) method, a continuous-time ZNN (CTZNN) model is presented. Additionally, a nine-step Zhang time discretization (9S-ZTD) formula is derived, constructed, and investigated. Second, by adopting ...
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