Time-optimal constrained kinematic control of robotic manipulators by recurrent neural network

Abstract

Time-optimal kinematic control is a vital concern for industrial manipulators to save allocated motion task time as much as possible. This requires maximizing the end-effector velocity to minimize the time required for path tracking. Nonetheless, it remains a challenge to ensure that joint motion constraints are not violated during this process, even with the aim of maximizing end-effector velocity simultaneously. This paper introduces a novel approach, which for the first time leverages dynamic recurrent neural networks (RNNs) within a constrained optimization framework to attain time-optimal kinematic control for manipulators. The theoretical analysis of the RNN-based kinematic control solver is addressed, ensuring both its optimality and convergence for achieving time-optimal kinematic control. The proposed method enables the maximization of end-effector velocity to achieve time-optimal kinematic control without violating all joint velocity limits simultaneously. In contrast to previous kinematic control schemes, the proposed method can enhance the end-effector path tracking speed of completion by 100% around, we substantiate the effectiveness and superiority of the proposed approach via simulation and V-Rep experiment on the manipulators.