This paper proposes an adaptive critic based realtime redundancy resolution scheme for kinematic control of a redundant manipulator. The kinematic control of the redundant manipulator is formulated as a discrete-time input affine system and then an optimal real-time redundancy resolution scheme is proposed. The optimal control law is derived in real-time using adaptive critic framework. The proposed single network adaptive critic based methodology defines the additional task in terms of integral cost function which results in global optimal solution. With adaptive critic based optimal control scheme, the optimal redundancy resolution is achieved in real-time without the computation of inverse which makes the method computationally efficient. The problem formulation as proposed in this paper is first of its kinds. Further the real-time optimal redundancy resolution using an integral cost function has been comprehensively solved which is also a novel contribution. The proposed scheme is tested in both simulation and experiment on a 7 degree of freedom (7DOF) PowerCubeTM manipulator from Amtec Robotics.
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- Adaptive Critic
- Approximate Dynamic Programming
- Inverse Kinematic Control
- Redundancy Resolution
- Redundant Manipulator