A primal-dual neural network based on inequalities of linear variation (LVI) is presented for online repetitive motion planning of PUMA560 robot arm, which resolves the problem of joint drift.

• 摘要用一种基于线性变分不等式的原对偶神经网络来解决PUMA560机器手臂在运动过程中出现的关节角偏差问题，使机器手臂的关节能够实现重复运动。