Neural Dynamics Incorporated Noise-Resistance Bi-criteria Scheme for Redundant Manipulators

Traditional control schemes of the redundant manipulator are usually difficult to satisfy the needs of many aspects, such as trajectory accuracy, direction tracking, joint physical constraints, noise tolerance, and so on. To solve these problems, from the perspective of optimization, this paper proposes a noise-resistance bi-criteria control scheme and designs an online solution model of neural dynamics (ND). The virtual simulations using the Franka Emika Panda manipulator demonstrate the feasibility and effectiveness of the ND model. Besides, the ND model obtained from the proposed scheme verifies their superiorities in a noisy environment.