Computer Simulations of Applying Zhang Inequation Equivalency and Solver of Neurodynamics to Redundant Manipulators at Acceleration Level

An equation can be transformed into an equivalent equation at a different level, which is termed equation equivalence or even generalized to be equation equivalency. In recent years, Zhang equivalency, more specifically, Zhang equation equivalency, i.e., a new equation equivalency originated from Zhang neurodynamics, has been proposed and investigated. Referring to Zhang equivalency and doing a careful investigation, we similarly find that an inequation can also be transformed into an equivalent inequation at a different level. The novel inequation equivalency named Zhang inequation equivalency (ZIE) is investigated in this paper. Then, ZIE is applied to acceleration-level redundant manipulator motion control. The configuration adjustment and cyclic motion generation of two types of redundant manipulators are investigated and simulated. Comparative experimental results verify the validity of the proposed ZIE. In fact, ZIE can also be applied in different actual projects according to practical requirements.