New Joint-Drift-Free Scheme Aided with Projected ZNN for Motion Generation of Redundant Robot Manipulators Perturbed by Disturbances

Joint-drift problems could result in failures in executing task or even damage robots in actual applications and different schemes have been presented to deal with such a knotty problem. However, in these existing schemes, there exists the coupling in coefficients for eliminating the drift in the joint space and the equality constraint for completing the given task in the Cartesian space, thereby, theoretically, leading to a paradox in achieving...