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In this paper, a recurrent neural network called the dual neural network is proposed for online redundancy resolution of kinematically redundant manipulators. Physical constraints such as joint limits and joint velocity limits, together with the drift-free criterion as a secondary task, are incorporated into the problem formulation of redundancy resolution. Compared to other recurrent neural networks, the dual neural network is piecewise linear and has much simpler architecture with only onedoi:10.1109/tnn.2003.810607 pmid:18238046 fatcat:7xgb5daombb2ficqaovcjn4xie