Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  presents a neural-network based computational scheme for redundancy resolution of manipulators. The Tank-Hopfield (TH) network is adopted for pseudoinverse and inverse kinematics calculations and it can provide joint velocity and joint acceleration solutions within a time frame of the order of hundred nanoseconds. The proposed TH network consists of a left-hand network and a right-hand network. The connection ights of the network can be directly obtained from the known matrix J (Jacobian matrix) and vector X/spl dot/ (end-effector velocity) or vector X/spl uml/ (end-effector acceleration). Incorporating the TH network into the redundancy resolution scheme allows planning algorithms to be implemented in real time. Simulation results for a 3-link planar manipulator are presented to demonstrate that the proposed approach is efficient and practical.
['Han Ding', 'S.K. Tso']
I am writing a research paper on a idea Neural network architectures for redundancy resolution of robotic manipulators
[{"from": "human", "value": "I am writing a research paper on a idea Neural network architectures for redundancy resolution of robotic manipulators"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  presents a neural-network based computational scheme for redundancy resolution of manipulators. The Tank-Hopfield (TH) network is adopted for pseudoinverse and inverse kinematics calculations and it can provide joint velocity and joint acceleration solutions within a time frame of the order of hundred nanoseconds. The proposed TH network consists of a left-hand network and a right-hand network. The connection ights of the network can be directly obtained from the known matrix J (Jacobian matrix) and vector X/spl dot/ (end-effector velocity) or vector X/spl uml/ (end-effector acceleration). Incorporating the TH network into the redundancy resolution scheme allows planning algorithms to be implemented in real time. Simulation results for a 3-link planar manipulator are presented to demonstrate that the proposed approach is efficient and practical."}]