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) |
|---|---|
| Funders: | UNSPECIFIED |
| 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 |
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