Decentralized kinematic control of a class of collaborative redundant manipulators via recurrent neural networks

Shuai Li, Sanfeng Chen, Bo Liu, Yangming Li, Yongsheng Liang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

122 Citations (Scopus)


This paper studies the decentralized kinematic control of multiple redundant manipulators for the cooperative task execution problem. The problem is formulated as a constrained quadratic programming problem and then a recurrent neural network with independent modules is proposed to solve the problem in a distributed manner. Each module in the neural network controls a single manipulator in real time without explicit communication with others and all the modules together collectively solve the common task. The global stability of the proposed neural network and the optimality of the neural solution are proven in theory. Application orientated simulations demonstrate the effectiveness of the proposed method.
Original languageEnglish
Pages (from-to)1-10
Number of pages10
Publication statusPublished - 15 Aug 2012
Externally publishedYes


  • Cooperative task execution
  • Decentralized kinematic control
  • Quadratic programming
  • Recurrent neural network
  • Redundant manipulator

ASJC Scopus subject areas

  • Computer Science Applications
  • Cognitive Neuroscience
  • Artificial Intelligence

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