Inverse-Free Scheme of G1 Type to Velocity-Level Inverse Kinematics of Redundant Robot Manipulators

  • Yunong Zhang
  • Liangyu He
  • Jingyao Ma
  • Ying Wang
  • Hongzhou Tan
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9377)


With the superiority of owning more degrees of freedom than ordinary robot manipulators, redundant robot manipulators have gotten much attention in recent years. In order to control the trajectory of the robot end-effector with a desired velocity, it is very popular to apply the inverse kinematics approaches, such as pseudo-inverse scheme. However, calculating the inverse of Jacobian matrix requires a lot of time. Thus base on gradient neural dynamics (GND), an inverse-free scheme is proposed at the joint-velocity level. The scheme is named G1 type as it uses GND once. In addition, two path tracking simulations based on five-link and six-link redundant robot manipulators illustrate the efficiency and the accuracy of the proposed scheme. What is more, the physical realizability of G1 type scheme is also verified by a physical experiment based on the six-link planar redundant robot manipulator hardware system.


redundant robot manipulators control inverse-free scheme gradient neural dynamics path tracking 


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Authors and Affiliations

  • Yunong Zhang
    • 1
    • 2
    • 3
  • Liangyu He
    • 1
    • 2
    • 3
  • Jingyao Ma
    • 1
    • 2
    • 3
  • Ying Wang
    • 1
    • 2
    • 3
  • Hongzhou Tan
    • 1
    • 2
  1. 1.School of Information Science and TechnologySun Yat-sen University (SYSU)GuangzhouChina
  2. 2.SYSU-CMU Shunde International Joint Research InstituteShundeChina
  3. 3.Key Laboratory of Autonomous Systems and Networked ControlMinistry of EducationGuangzhouChina

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