SUMMARYThe Inverse Kinematics (IK) problem of manipulators can be divided into two distinct steps: (1) Problem formulation, where the problem is developed into a form which can then be solved using various methods. (2) Problem solution, where the IK problem is actually solved by producing the values of different joint space variables (joint angles, joint velocities or joint accelerations). The main focus of this paper is concentrated on the discussion of the IK problem of redundant manipulators, formulated as a quadratic programming optimization problem solved by different kinds of recurrent neural networks.

中文翻译：

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冗余机械手的逆运动学公式化为使用递归神经网络解决的二次规划优化问题：综述

摘要机械手的逆运动学 (IK) 问题可分为两个不同的步骤：(1)问题表述，问题被发展成一种形式，然后可以使用各种方法解决。(2)问题方案，其中 IK 问题实际上是通过产生不同关节空间变量（关节角度、关节速度或关节加速度）的值来解决的。本文的主要重点是讨论冗余机械手的 IK 问题，该问题被表述为由不同类型的递归神经网络解决的二次规划优化问题。