An Enhanced GRU Model With Application to Manipulator Trajectory Tracking

Service robots, e.g. massage robots, have attracted more and more attention in recent years and the most popular study within this field is trajectory tracking. Due to the actual demand for service robots, the solution of trajectory tracking requires fast convergence and high accuracy. In order to solve the above issues, this paper proposed an enhanced Gated recurrent unit (GRU) to deal with trajectory tracking tasks of robot manipulators. The main feature of enhanced GRU is utilizing cell states as well as various gate units to build a novel neural cell. Besides, the presented enhanced GRU resolves the problem of the general neural network model and large memory occupancy. Then the derivations about the computational process of cell state and mixed hidden state of the proposed model have been illustrated. Finally, three trajectory tracking applications, comparison, and visual simulation have verified feasibility as well as the superiority of the enhanced GRU model.