Runge–Kutta Type Discrete Circadian RNN for Resolving Tri-Criteria Optimization Scheme of Noises Perturbed Redundant Robot Manipulators
提出一种龙格-库塔型离散时间昼夜节律神经网络模型，用于冗余机器人操作器的运动规划，能同时最小化加速度范数、力矩范数和关节角偏移，并抑制位置误差累积。
In order to resist periodic interfere in robot hardware or environment, a Runge–Kutta type discrete-time circadian rhythms neural network (RK-DCRNN) model is proposed, and investigated to plan the motion of redundant robot manipulators. To achieve the optimal control, a quadratic programming-based acceleration-level hybrid tri-criteria (ALHT) scheme is first designed, which simultaneously minimize the acceleration norm, torque norm, and joint-angle shift-free indices. Second, according to the neural dynamic design method, a continuous-time circadian rhythms neural network model is exploited, and then based on the Runge–Kutta numerical differential method, a discrete-time circadian rhythms neural network model is obtained. Third, the convergence of the proposed RK-DCRNN model is proved by detailed mathematical derivation. Fourth, comparative simulations and physical experiments verify that the proposed RK-DCRNN model can suppress the accumulation of position error in the motion planning of manipulators.