Decentralized kinematic control of a class of collaborative redundant manipulators via recurrent neural networks

This paper studies the decentralized kinematic control of multiple redundant manipulators for the cooperative task execution problem. The problem is formulated as a constrained quadratic programming problem and then a recurrent neural network with independent modules is proposed to solve the problem in a distributed manner. Each module in the neural network controls a single manipulator in the common task. The global stability of the proposed neural network and the optimality of the neural solution are proven in theory. Application orientated simulations demonstrate the effectiveness of the proposed method. & 2012 Elsevier B.V. All rights reserved.