Model-based recurrent neural network for redundancy resolution of manipulator with remote centre of motion constraints

Redundancy resolution is a critical issue to achieve accurate kinematic control for manipulators. End-effectors of manipulators can track desired paths well with suitable resolved joint variables. In some manipulation applications such as selecting insertion paths to thrill through a set of points, it requires the distal link of a manipulator to translate along such fixed point and then perform manipulation tasks. The point is known as remote centre of motion (RCM) to constrain motion planning and kinematic control of manipulators. Together with its end-effector finishing path tracking tasks, the redundancy resolution of a manipulators has to maintain RCM to produce reliable resolved joint angles. However, current existing redundancy resolution schemes on manipulators based on recurrent neural networks (RNNs) mainly are focusing on unrestricted motion without RCM constraints considered. In this paper, an RNN-based approach is proposed to solve the redundancy resolution issue with RCM constraints, developing a new general dynamic optimisation formulation containing the RCM constraints. Theoretical analysis shows the theoretical derivation and convergence of the proposed RNN for redundancy resolution of manipulators with RCM constraints. Simulation results further demonstrate the efficiency of the proposed method in end-effector path tracking control under RCM constraints based on an industrial redundant manipulator system

Neural Network Model-Based Control for Manipulator: An Autoencoder Perspective

Recently, neural network model-based control has received wide interests in kinematics control of manipulators. To enhance learning ability of neural network models, the autoencoder method is used as a powerful tool to achieve deep learning and has gained success in recent years. However, the performance of existing autoencoder approaches for manipulator control may be still largely dependent on the quality of data, and for extreme cases with noisy data it may even fail. How to incorporate the model knowledge into the autoencoder controller design with an aim to increase the robustness and reliability remains a challenging problem. In this work, a sparse autoencoder controller for kinematic control of manipulators with weights obtained directly from the robot model rather than training data is proposed for the first time. By encoding and decoding the control target though a new dynamic recurrent neural network architecture, the control input can be solved through a new sparse optimization formulation. In this work, input saturation, which holds for almost all practical systems but usually is ignored for analysis simplicity, is also considered in the controller construction. Theoretical analysis and extensive simulations demonstrate that the proposed sparse autoencoder controller with input saturation can make the end-effector of the manipulator system track the desired path efficiently. Further performance comparison and evaluation against the additive noise and parameter uncertainty substantiate robustness of the proposed sparse autoencoder manipulator controller

Recursive recurrent neural network: A novel model for manipulator control with different levels of physical constraints

Manipulators actuate joints to let end effectors to perform precise path tracking tasks. Recurrent neural network which is described by dynamic models with parallel processing capability, is a powerful tool for kinematic control of manipulators. Due to physical limitations and actuation saturation of manipulator joints, the involvement of joint constraints for kinematic control of manipulators is essential and critical. However, current existing manipulator control methods based on recurrent neural networks mainly handle with limited levels of joint angular constraints, and to the best of our knowledge, methods for kinematic control of manipulators with higher order joint constraints based on recurrent neural networks are not yet reported. In this study, for the first time, a novel recursive recurrent network model is proposed to solve the kinematic control issue for manipulators with different levels of physical constraints, and the proposed recursive recurrent neural network can be formulated as a new manifold system to ensure control solution within all of the joint constraints in different orders. The theoretical analysis shows the stability and the purposed recursive recurrent neural network and its convergence to solution. Simulation results further demonstrate the effectiveness of the proposed method in end-effector path tracking control under different levels of joint constraints based on the Kuka manipulator system. Comparisons with other methods such as the pseudoinverse-based method and conventional recurrent neural network method substantiate the superiority of the proposed method

An L₁-Norm Based Optimization Method for Sparse Redundancy Resolution of Robotic Manipulators

For targeted motion control tasks of manipulators, it is frequently necessary to make use of full levels of joint actuation to guarantee successful motion planning and path tracking. Such way of motion planning and control may keep the joint actuation in a non-sparse manner during motion control process. In order to improve sparsity of joint actuation for manipulator systems, a novel motion planning scheme which can optimally and sparsely adopt joint actuation is proposed in this paper. The proposed motion planning strategy is formulated as a constrained L1 norm optimization problem, and an equivalent enhanced optimization solution dealing with bounded joint velocity is proposed as well. A new primal dual neural network with a new solution set division is further proposed and applied to solve such bounded optimization which can sparsely adopt joint actuation for motion control. Simulation and experiment results demonstrate the efficiency, accuracy and superiority of the proposed method for optimally and sparsely adopting joint actuation. The average sparsity (i.e., -||˙θ||p where θ denotes the joint angle) of the joint motion of the manipulator can be increased by 39.22% and 51.30% for path tracking tasks in X-Y and X-Z planes respectively, indicating that the sparsity of joint actuation can be enhanced

A Novel Zeroing Neural Network for Solving Time-Varying Quadratic Matrix Equations against Linear Noises

The solving of quadratic matrix equations is a fundamental issue which essentially exists in the optimal control domain. However, noises exerted on the coefficients of quadratic matrix equations may affect the accuracy of the solutions. In order to solve the time-varying quadratic matrix equation problem under linear noise, a new error-processing design formula is proposed, and a resultant novel zeroing neural network model is developed. The new design formula incorporates a second-order error-processing manner, and the double-integration-enhanced zeroing neural network (DIEZNN) model is further proposed for solving time-varying quadratic matrix equations subject to linear noises. Compared with the original zeroing neural network (OZNN) model, finite-time zeroing neural network (FTZNN) model and integration-enhanced zeroing neural network (IEZNN) model, the DIEZNN model shows the superiority of its solution under linear noise; that is, when solving the problem of a time-varying quadratic matrix equation in the environment of linear noise, the residual error of the existing model will maintain a large level due to the influence of linear noise, which will eventually lead to the solution’s failure. The newly proposed DIEZNN model can guarantee a normal solution to the time-varying quadratic matrix equation task no matter how much linear noise there is. In addition, the theoretical analysis proves that the neural state of the DIEZNN model can converge to the theoretical solution even under linear noise. The computer simulation results further substantiate the superiority of the DIEZNN model in solving time-varying quadratic matrix equations under linear noise

Kinematic Control of Manipulator with Remote Center of Motion Constraints Synthesised by a Simplified Recurrent Neural Network

Redundancy manipulators need favorable redundancy resolution to obtain suitable control actions to guarantee accurate kinematic control. Among numerous kinematic control applications, some specific tasks such as minimally invasive manipulation/surgery require the distal link of a manipulator to translate along such fixed point. Such a point is known as remote center of motion (RCM) to constrain motion planning and kinematic control of manipulators. Recurrent neural network (RNN) which possesses parallel processing ability, is a powerful alternative and has achieved success in conventional redundancy resolution and kinematic control with physical constraints of joint limits. However, up to now, there still is few related works on the RNNs for redundancy resolution and kinematic control of manipulators with RCM constraints considered yet. In this paper, for the first time, an RNN-based approach with a simplified neural network architecture is proposed to solve the redundancy resolution issue with RCM constraints, with a new and general dynamic optimization formulation containing the RCM constraints investigated. Theoretical results analyze and convergence properties of the proposed simplified RNN for redundancy resolution of manipulators with RCM constraints. Simulation results further demonstrate the efficiency of the proposed method in end-effector path tracking control under RCM constraints based on a redundant manipulator

MonarchBase: the monarch butterfly genome database

The monarch butterfly (Danaus plexippus) is emerging as a model organism to study the mechanisms of circadian clocks and animal navigation, and the genetic underpinnings of long-distance migration. The initial assembly of the monarch genome was released in 2011, and the biological interpretation of the genome focused on the butterfly\u27s migration biology. To make the extensive data associated with the genome accessible to the general biological and lepidopteran communities, we established MonarchBase (available at http://monarchbase.umassmed.edu). The database is an open-access, web-available portal that integrates all available data associated with the monarch butterfly genome. Moreover, MonarchBase provides access to an updated version of genome assembly (v3) upon which all data integration is based. These include genes with systematic annotation, as well as other molecular resources, such as brain expressed sequence tags, migration expression profiles and microRNAs. MonarchBase utilizes a variety of retrieving methods to access data conveniently and for integrating biological interpretations

The Effect of Indium Concentration on the Structure and Properties of Zirconium Based Intermetallics: First-Principles Calculations

The phase stability, mechanical, electronic, and thermodynamic properties of In-Zr compounds have been explored using the first-principles calculation based on density functional theory (DFT). The calculated formation enthalpies show that these compounds are all thermodynamically stable. Information on electronic structure indicates that they possess metallic characteristics and there is a common hybridization between In-p and Zr-d states near the Fermi level. Elastic properties have been taken into consideration. The calculated results on the ratio of the bulk to shear modulus (B/G) validate that InZr3 has the strongest deformation resistance. The increase of indium content results in the breakout of a linear decrease of the bulk modulus and Young’s modulus. The calculated theoretical hardness of α-In3Zr is higher than the other In-Zr compounds