Cooperative fuzzy hint acquisition for avoiding joint limits of redundant manipulators

Samy F.M. Assal, Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

In this paper, a back propagation neural network (NN) is presented for the inverse kinematics of redundant manipulator with joint limits. Since the inverse kinematics has infinite number of joint angle vectors, a fuzzy neural network (FNN) is designed to provide an approximate value for that vector. This vector is fed into the NN as a hint input vector to guide the output of the NN within the self-motion. This FNN is designed based on cooperatively controlled each joint angle in the sense that it stops the motion on the critical axis at its limit in the expense of more compensation from the most relaxed joint to accomplish the task. The joint velocity limits as well as the joint limits are incorporated in this method. Simulations are implemented based on four-link redundant manipulator to show the effectiveness of the proposed control system.

Original languageEnglish
Pages169-174
Number of pages6
DOIs
Publication statusPublished - Dec 1 2004
Externally publishedYes
EventIECON 2004 - 30th Annual Conference of IEEE Industrial Electronics Society - Busan, Korea, Republic of
Duration: Nov 2 2004Nov 6 2004

Other

OtherIECON 2004 - 30th Annual Conference of IEEE Industrial Electronics Society
CountryKorea, Republic of
CityBusan
Period11/2/0411/6/04

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Cooperative fuzzy hint acquisition for avoiding joint limits of redundant manipulators'. Together they form a unique fingerprint.

  • Cite this

    Assal, S. F. M., Watanabe, K., & Izumi, K. (2004). Cooperative fuzzy hint acquisition for avoiding joint limits of redundant manipulators. 169-174. Paper presented at IECON 2004 - 30th Annual Conference of IEEE Industrial Electronics Society, Busan, Korea, Republic of. https://doi.org/10.1109/IECON.2004.1433304