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Article summary:
1. This article proposes a concise continuous ZNN (CZNN) controller for end-effector tracking and obstacle avoidance of redundant manipulators.
2. Two concise discrete ZNN (DZNN) controllers are proposed with O(τ2) and O(τ3) precisions, which are effective for practical control.
3. Experiments on the basis of two kinds of redundant manipulators are conducted to verify the effectiveness, superiority, and practicability of two DZNN controllers.
Article analysis:
This article presents a concise approach to developing discrete controllers for end-effector tracking and obstacle avoidance of redundant manipulators. The authors propose a CZNN controller that combines equality formulations about end-effector tracking and obstacle avoidance at velocity level, as well as two DZNN controllers with order-2 and order-3 precisions that are ready for practical control. The authors provide sufficient experiments on the basis of two kinds of redundant manipulators to verify the effectiveness, superiority, and practicability of their proposed controllers.
The article is generally reliable in its claims; however, there are some potential biases that should be noted. For example, the authors do not explore any counterarguments or present both sides equally when discussing existing studies in comparison to their own work. Additionally, they do not discuss any possible risks associated with their proposed approach or consider any missing points of consideration when developing their controllers. Furthermore, there is no evidence provided to support some of the claims made in the article such as those regarding the efficacy of their proposed approach or its superiority over existing studies.
In conclusion, this article provides an interesting approach to developing discrete controllers for end-effector tracking and obstacle avoidance of redundant manipulators; however, it should be read critically due to potential biases and unsupported claims made by the authors throughout the text.