Critic Based Redundancy Resolution for kinematic constraints.wmv

Adaptive Critic Based Redundancy Resolution
i) Positioning Task is modeled as a discrete time task and single network adaptive critic is used to learn the costate dynamics.
ii) Video shows the results with two cost functions a) Quadratic cost which minimizes the joint movement b) Kinematic constraint avoidance. The movement of 4th joint is limited which you can see from the figures.
iii) Algorithm is implemented on PowerCube Manipulator with stereo vision
iv) Video shows the view from Right and Left Camera

Category:

Education

Tags:

• Redundant Manipulator
• Kinematic Constraint
• ISL IIT Kanpur