Geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks

Yahya, S. and Moghavvemi, M. and Almurib, H.A.F. (2012) Geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks. In: 8th International Conference on Emerging Intelligent Computing Technology and Applications, ICIC 2012, 25-29 July 2012, Huangshan, China.

Full text not available from this repository.

Abstract

This paper presents an Artificial Neural Network (ANN) based on the nonlinear dynamical control of a three-dimensional six degrees of freedom planar redundant manipulator. An ANN controller is used for the computation of fast inverse kinematics, and is effective on geometrically bounded singularities and joint limits prevention of redundant manipulators. The radial basis function neural network has been used to estimate the centrifugal and gravitational effects of the joints, when the end-effector follows a desired path.

Item Type: Conference or Workshop Item (Paper)
Additional Information: ISSN: 18650929 ISBN: 978-364231836-8 DOI: 10.1007/978-3-642-31837-5_45
Uncontrolled Keywords: Joint limits; Nonlinear dynamical control; Radial basis function neural networks; Six degrees of freedom; Centrifugation; Intelligent computing; Inverse kinematics; Neural networks; Three dimensional; Redundant manipulators
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 25 Mar 2014 09:06
Last Modified: 23 Nov 2017 02:45
URI: http://eprints.um.edu.my/id/eprint/9737

Actions (login required)

View Item View Item