Dynamic Process Programming for a Robotic Manipulator Based on Hopfield NN Monotonous Optimization Searching

摘要

A new approach to programming the optimal dynamic process for an n-joint rigid robotic manipulator with the use of the monotonous optimization searching ability of a Hopfield NN is presented. By combining robotic dynamics, this paper designs a programmed controller, which satisfies the aforementioned dynamic process. The convergence of the programmed controller is investigated. Simulations and experiments demonstrate the effectiveness of the scheme described.