Adaptive Dynamic Programming-Based Cooperative Motion/Force Control for Modular Reconfigurable Manipulators: A Joint Task Assignment Approach

This article develops a cooperative motion/force control (CMFC) scheme based on adaptive dynamic programming (ADP) for modular reconfigurable manipulators (MRMs) with the joint task assignment approach. By separating terms depending on local variables only, the dynamic model of the entire MRM system...

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Bibliographic Details
Published in:	IEEE transaction on neural networks and learning systems Vol. 34; no. 12; pp. 10944 - 10954
Main Authors:	Zhao, Bo, Zhang, Yongwei, Liu, Derong
Format:	Journal Article
Language:	English
Published:	United States IEEE 01.12.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptive control Adaptive dynamic programming (ADP) Closed loops Cooperative control Decentralized control dynamic constraints Dynamic models Dynamic programming Dynamics End effectors Force Jacobi matrix method Jacobian matrix Joining Manipulator dynamics Manipulators modular reconfigurable manipulators (MRMs) Modules motion/force control Neural networks neural networks (NNs) Reconfiguration Stability analysis Task analysis Tracking
ISSN:	2162-237X, 2162-2388, 2162-2388
Online Access:	Get full text
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