Two-degree-of-freedom manipulator path planning based on zeroing neural network

Abstract

In this paper, the shortest path problem of manipulator path planning is transformed into a linear programming problem, and solved by zeroing neural network (ZNN). Firstly, the method of constructing the zeroing neural dynamics is given, and the ZNN model is constructed for shortest path problem of manipulator. Then, the Lyapunov method is utilized to prove the stability of the ZNN model. Finally, the ZNN model is applied to the path planning of manipulator to generate an optimal planning path. The simulation results show that the proposed method can effectively realize the optimal path planning of the manipulator.

Keywords

• zeroing neural network
• linear programming
• path planning
• lyapunov method