A Gradient-Based Recurrent Neural Network for Visual Servoing of Robot Manipulators with Acceleration Command

Table 1

Comparisons among different approaches for visual servoing of redundant manipulators.

	Command level	Gradient descent method	Joint velocity constraints	Joint acceleration constraints	Pseudoinverse operation	Number of neurons
Scheme (26)	Acceleration	Yes	Yes	Yes	No
Scheme in [21]	Acceleration	No	No	No	Yes
Scheme in [25]	Velocity	No	Yes	No	No
Scheme in [26]	Acceleration	No	No	No	Yes
Scheme in [27]	Velocity	No	No	No	Yes
Scheme in [42]	Velocity	No	Yes	No	No
Scheme in [43]	Velocity	No	Yes	No	No
Scheme in [48]	Velocity	No	No	No	Yes