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To make joints of a redundant manipulator moving automatically to a target state, a state-adjustment (SA) scheme is studied and modified in this paper. Specifically, owing to the problem of non-zero initial joint velocity in the SA scheme leading to a potential hazard to redundant manipulators, a modified state-adjustment (MSA) scheme is obtained on the basis of the SA scheme. The MSA scheme achieves the state adjustment by minimizing the differences between the joint angles and the target values. For solving the MSA scheme, a recurrent neural network (RNN) model is derived, of which the critical component is to iterate over the joint angles and joint velocities. The MSA scheme solved by the RNN model enables the redundant manipulator to adjust to the target state automatically while ensuring that the initial joint velocity is zero. Beyond that, several comparative simulations demonstrate the availability and accuracy of the MSA scheme solved by the RNN model in controlling the state adjustment of redundant manipulators.

Recurrent Neural Network for State Adjustment of Redundant Manipulators