Geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks
Document Type
Conference Item
Publication Date
7-1-2012
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.
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
Divisions
fac_eng
Event Title
8th International Conference on Emerging Intelligent Computing Technology and Applications, ICIC 2012
Event Location
Huangshan, China
Event Dates
25-29 July 2012
Event Type
conference
Additional Information
ISSN: 18650929 ISBN: 978-364231836-8 DOI: 10.1007/978-3-642-31837-5_45