| Issue |
MATEC Web Conf.
Volume 309, 2020
2019 International Conference on Computer Science Communication and Network Security (CSCNS2019)
|
|
|---|---|---|
| Article Number | 04005 | |
| Number of page(s) | 8 | |
| Section | System Design and Optimization | |
| DOI | https://doi.org/10.1051/matecconf/202030904005 | |
| Published online | 04 March 2020 | |
Two-degree-of-freedom manipulator path planning based on zeroing neural network
School of Electrical and Electronic Engineering, Changchun University of Technology, Changchun, Jilin, China
* Corresponding author: liyan_dianqi@ccut.edu.cn
In this paper, the shortest path problem of manipulator path planning is transformed into a linear programming problem, and solved by zeroing neural network (ZNN). Firstly, the method of constructing the zeroing neural dynamics is given, and the ZNN model is constructed for shortest path problem of manipulator. Then, the Lyapunov method is utilized to prove the stability of the ZNN model. Finally, the ZNN model is applied to the path planning of manipulator to generate an optimal planning path. The simulation results show that the proposed method can effectively realize the optimal path planning of the manipulator.
Key words: Zeroing neural network / Linear programming / Path Planning / Lyapunov method
© The Authors, published by EDP Sciences, 2020
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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