An efficient self-motion scheme for redundant robot manipulators: a varying-gain neural self-motion approach

In order to achieve high efficient self-motion for a redundant robot manipulator, a novel quadratic programming and varying-gain recurrent neural network based varying-gain neural self-motion (VGN-SM) approach is proposed and developed. With VGN-SM, the convergence errors can be adaptively and efficiently converged to zero. For comparisons, a traditional fixed-parameter neural self-motion (FPN-SM) approach is also presented. Theoretical analysis shows that the proposed VGN-SM has higher accuracy than the traditional FPN-SM. Finally, comparative experiments between VGN-SM and FPN-SM are performed on a six degrees-of-freedom robot manipulator to verify the advantages of the novel VGN-SM.