كتاب Neural Networks for Cooperative Control of Multiple Robot Arms

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Neural Networks for Cooperative Control of Multiple Robot Arms
Shuai Li , Yinyan Zhang

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Contents
1 Neural Networks Based Single Robot Arm Control
for Visual Servoing 1
1.1 Introduction 1
1.2 Preliminary and Problem Formulation . 2
1.2.1 Visual Servoing Kinematics of Robot Arms . 2
1.2.2 Problem Formulation 4
1.3 Problem Relaxation 4
1.4 Neural Network Design . 5
1.5 Theoretical Analysis 6
1.6 Simulation Verification 7
1.7 Summary 8
References . 8
2 Neural Networks for Robot Arm Cooperation with a Star
Control Topology . 13
2.1 Introduction 13
2.2 Problem Formulation . 14
2.2.1 Redundant Manipulator Kinematics . 15
2.2.2 Cooperative Task Execution by Using Multiple
Manipulators 15
2.3 Real-Time Control via Recurrent Neural Networks 17
2.4 Theoretical Results . 19
2.5 Simulation Results . 21
2.5.1 Payload Transport with Two Manipulators 22
2.5.2 Cooperative Tracking with Three Manipulators . 24
2.6 Summary 25
References . 27
xiii3 Neural Networks for Robot Arm Cooperation
with a Hierarchical Control Topology . 31
3.1 Introduction 31
3.2 Preliminaries . 32
3.2.1 Redundant Robot Arm . 32
3.2.2 Graph Theory . 33
3.3 Problem Formulation and the Solution . 33
3.3.1 Multiple-Robot-Arm Cooperation . 33
3.3.2 Inspirations from Social Behaviors in Nature . 35
3.3.3 Hierarchical Topology Generation . 35
3.3.4 Neural Dynamics . 36
3.4 Theoretical Results . 37
3.5 Simulation Results . 41
3.6 Summary 45
References . 46
4 Neural Networks for Robot Arm Cooperation with a Full
Distributed Control Topology 49
4.1 Introduction 49
4.2 Problem Formulation . 51
4.2.1 Redundant Robot Arm Kinematics 51
4.2.2 Game-Theoretic Formulation of Cooperative Control . 53
4.3 Nash Equilibrium of the Game for Cooperative Control 56
4.4 Online Solution via Recurrent Neural Networks 58
4.4.1 The Recurrent Neural Network Model . 58
4.4.2 Model Discussion 61
4.5 Convergence of the Neuro-Dynamics 62
4.6 Simulations 66
4.6.1 Simulation Setup . 66
4.6.2 Simulation Results 67
4.7 Summary 69
References . 71
xiv Contents Acronyms
DOF Degrees of Freedom
GTNN Game Theoretic Neural Network
KKT Karash–Kuhn–Tucker
QP Quadratic Program

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