{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T21:56:36Z","timestamp":1747173396958,"version":"3.40.5"},"reference-count":28,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2021,5,14]],"date-time":"2021-05-14T00:00:00Z","timestamp":1620950400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2021,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In order to achieve high efficient self-motion for a redundant robot manipulator, a novel quadratic programming and varying-gain recurrent neural network based varying-gain neural self-motion (VGN-SM) approach is proposed and developed. With VGN-SM, the convergence errors can be adaptively and efficiently converged to zero. For comparisons, a traditional fixed-parameter neural self-motion (FPN-SM) approach is also presented. Theoretical analysis shows that the proposed VGN-SM has higher accuracy than the traditional FPN-SM. Finally, comparative experiments between VGN-SM and FPN-SM are performed on a six degrees-of-freedom robot manipulator to verify the advantages of the novel VGN-SM.<\/jats:p>","DOI":"10.1017\/s0263574721000047","type":"journal-article","created":{"date-parts":[[2021,5,14]],"date-time":"2021-05-14T09:59:58Z","timestamp":1620986398000},"page":"1897-1908","source":"Crossref","is-referenced-by-count":3,"title":["An efficient self-motion scheme for redundant robot manipulators: a varying-gain neural self-motion approach"],"prefix":"10.1017","volume":"39","author":[{"given":"Pengchao","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaohui","family":"Ren","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6859-3426","authenticated-orcid":false,"given":"Zhijun","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,5,14]]},"reference":[{"key":"S0263574721000047_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2464176"},{"key":"S0263574721000047_ref24","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060408"},{"key":"S0263574721000047_ref4","first-page":"147","article-title":"Obstacle avoidance vontrol of redundant robots using variants of particle swarm optimization","volume":"28","author":"Chyan","year":"2012","journal-title":"Robot. Comput.-Integr. Manufact."},{"key":"S0263574721000047_ref25","doi-asserted-by":"publisher","DOI":"10.1007\/BF00449702"},{"key":"S0263574721000047_ref26","first-page":"229","article-title":"Quadratic-optimization based self-motion planning with no target-configuration assigned and verified via PA10 simulations","volume":"31","author":"Zhang","year":"2010","journal-title":"J. Jinan Univ."},{"key":"S0263574721000047_ref12","unstructured":"[12] Suh, K. and Hollerbach, J. , \u201cLocal Versus Global Torque Optimization of Redundant Manipulators,\u201d IEEE International Conference on Robotics and Automation (1987) pp. 619\u2013624."},{"key":"S0263574721000047_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087111"},{"key":"S0263574721000047_ref7","doi-asserted-by":"crossref","unstructured":"[7] Zergeroglu, E. , Dawson, D. D. , Walker, I. W. and Setlur, P. , \u201cNonlinear Tracking Control of Kinematically Redundant Robot Manipulators,\u201d Proceedings of the 2000 American Control Conference, ACC (2004) pp. 129\u2013132.","DOI":"10.1109\/TMECH.2004.823890"},{"key":"S0263574721000047_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ISSCAA.2008.4776238"},{"key":"S0263574721000047_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/41.744412"},{"key":"S0263574721000047_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2012.07.003"},{"key":"S0263574721000047_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2810039"},{"key":"S0263574721000047_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2018.2872471"},{"key":"S0263574721000047_ref15","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574707004031"},{"key":"S0263574721000047_ref3","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574711000841"},{"key":"S0263574721000047_ref18","doi-asserted-by":"crossref","unstructured":"[18] Hussain, R. , Qureshi, A. , Mughal, R. A. , Ijaz, R. , Rashid, N. , Tiwana, M. I and Iqbal, J. \u201cInverse Kinematics Control of Redundant Planar Manipulator with Joint Constraints Using Numerical Method,\u201d International Conference on Control, Automation and Systems (2015) pp. 806\u2013810.","DOI":"10.1109\/ICCAS.2015.7364731"},{"key":"S0263574721000047_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2331036"},{"key":"S0263574721000047_ref14","unstructured":"[14] Zhang, Y. , \u201cOn the LVI-based Primal-Dual Neural Network for Solving Online Linear and Quadratic Programming Problems,\u201d Proceedings of the American Control Conference (2005) pp. 1351\u20131356."},{"key":"S0263574721000047_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"},{"key":"S0263574721000047_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/3468.759273"},{"key":"S0263574721000047_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2004.830347"},{"key":"S0263574721000047_ref19","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470800492X"},{"key":"S0263574721000047_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2683561"},{"key":"S0263574721000047_ref5","doi-asserted-by":"crossref","unstructured":"[5] Jin, M. , Zhou, C. and Liu, Y. , \u201cHybrid Impedance Control of 7-DOF Redundant Manipulator with Dual Compliant Surface,\u201d IEEE International Conference on Mechatronics and Automation (2015) pp. 1424\u20131429.","DOI":"10.1109\/ICMA.2015.7237694"},{"key":"S0263574721000047_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2015.2467208"},{"key":"S0263574721000047_ref16","unstructured":"[16] Khatib, O. and Bowling, A. , \u201cOptimization of the Inertial and Acceleration Characteristics of Manipulators,\u201d Proceedings of IEEE International Conference on Robotics and Automation (1996) pp. 2883\u20132889."},{"key":"S0263574721000047_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/72.788651"},{"key":"S0263574721000047_ref23","doi-asserted-by":"crossref","unstructured":"[23] Burdick, J. W. , \u201cOn the Tnverse Kinematics of Redundant Manipulators: Characterization of the Self-Motion Manifolds,\u201d Proceedings of the 4th International Conference on Advanced Robotics Columbus (1989) pp. 25\u201334.","DOI":"10.1007\/978-3-642-83957-3_3"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574721000047","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,9,8]],"date-time":"2021-09-08T10:10:35Z","timestamp":1631095835000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574721000047\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,14]]},"references-count":28,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2021,10]]}},"alternative-id":["S0263574721000047"],"URL":"https:\/\/doi.org\/10.1017\/s0263574721000047","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2021,5,14]]}}}