Robust Time-Optimal Kinematic Control of Robotic Manipulators Based on Recurrent Neural Network Against Harmonic Noises

Robust Time-Optimal Kinematic Control of Robotic Manipulators Based on Recurrent Neural Network Against Harmonic Noises

Industrial and service manipulators demand implementing time-optimal kinematic control to minimize task duration in a manner of maximizing end-effector velocity during path tracking. However, achieving this objective in the presence of harmonic noise while strictly enforcing joint motion constraints...

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Bibliographic Details
Main Authors: Yiqun Kuang, Shuai Li, Zhan Li
Format: Article
Language:English
Published: MDPI AG 2025-04-01
Series:Actuators
Subjects:
motion planning
kinematic control
time optimality
noise
Online Access:https://www.mdpi.com/2076-0825/14/5/213
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