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

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 singularitie...

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Bibliographic Details
Main Authors:	Yahya, S., Moghavvemi, M., Almurib, H.A.F.
Format:	Conference or Workshop Item
Published:	2012
Subjects:	TA Engineering (General). Civil engineering (General)
Online Access:	http://eprints.um.edu.my/9737/

id	um-9737
recordtype	eprints
spelling	um-97372017-11-23T02:45:57Z Geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks Yahya, S. Moghavvemi, M. Almurib, H.A.F. TA Engineering (General). Civil engineering (General) 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. 2012-07 Conference or Workshop Item PeerReviewed Yahya, S.; Moghavvemi, M.; 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. http://eprints.um.edu.my/9737/
repository_type	Digital Repository
institution_category	Local University
institution	University Malaya
building	UM Research Repository
collection	Online Access
topic	TA Engineering (General). Civil engineering (General)
spellingShingle	TA Engineering (General). Civil engineering (General) Yahya, S. Moghavvemi, M. Almurib, H.A.F. Geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks
description	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.
format	Conference or Workshop Item
author	Yahya, S. Moghavvemi, M. Almurib, H.A.F.
author_facet	Yahya, S. Moghavvemi, M. Almurib, H.A.F.
author_sort	Yahya, S.
title	Geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks
title_short	Geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks
title_full	Geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks
title_fullStr	Geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks
title_full_unstemmed	Geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks
title_sort	geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks
publishDate	2012
url	http://eprints.um.edu.my/9737/
first_indexed	2018-09-06T05:45:19Z
last_indexed	2018-09-06T05:45:19Z
_version_	1610835788724961280

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

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