Coordination of Two Redundant Robots Using a Dual Neural Network

Abstract

Real-time control of multi-robot coordination system has attracted a lot of attention in recent years. Traditional numerical algorithm is ineffective to perform this task. In this paper, a dual neural network approach is applied to resolve the coordination problem of two redundant robots. By this approach, the joint torque and distributed load can be obtained by optimizing a multiple criteria, and the physical limits of the joint torque and distributed load can be also incorporated into the control scheme. The dual neural network has a simple structure which is composed of only one layer of neuron array. The network configuration is updated by the command signals of desired acceleration of the grasped object, and the output of the network is the manipulator's joint torque. A simulation example is presented to demonstrate the effectiveness of the dual neural network method.