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• [P1040] Adaptive Critic based Redundancy Resolution scheme for Robot Manipulators
  Author(s): Laxmidhar Behera, Prem Kumar P., Girijesh Prasad
  
  

  Abstract
  A novel adaptive critic based kinematic control scheme for a redundant manipulator has been proposed in this paper. The redundancy resolution has been formulated as an discrete time optimal control problem. A TS fuzzy based critic network has been proposed to predict the global cost-to-go function as fuzzy average of local cost functions. The integral cost function is used in the literature earlier, to achieve global optimum in contrast to instantaneous cost functions which gives local optimum. But both the approaches require the computation of pseudo-inverse which is computationally complex and suffers from numerical instability. In contrast, the proposed scheme does not require computation of pseudo-inverse of the Jacobian associated with a redundant manipulator which make the method computationally efficient. The proposed scheme is tested on 7 degree of freedom (7DOF) PowerCube manipulator from Amtec Robotics.

  
   

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