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期刊论文
A set of nonlinear equations and inequalities arising in robotics and its online solution via a primal neural network
Neurocomputing 70(2006)513-524,-0001,():
In this paper, for handling general minimum-effort inverse-kinematic problems, the nonuniqueness condition is investigated. A set of nonlinear equations and inequality is presented for online nonuniqueness-checking. The concept and utility of primal neural networks (NNs) are introduced in this context of dynamical inequalities and constraints. The proposed primal NN can handle well such a nonlinear online-checking problem in the form of a set of nonlinear equations and inequality. Numerical examples demonstrate the effectiveness and advantages of the primal NN approach.
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