Cooperative fuzzy hint acquisition for industrial redundant robots to avoid the joint limits

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A novel neural network (NN) based inverse kinematics solution of redundant manipulators is proposed to solve the joint limits problem. An adaptive learning algorithm for that NN is derived based on Lyapunov approach. 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 controlling each joint angle of the manipulator. Experiments are implemented for the PA-IO redundant manipulator and a comparative study is made with the gradient projection method.

Original languageEnglish
Title of host publicationSoft Computing as Transdisciplinary Science and Technology - Proceedings of the 4th IEEE International Workshop, WSTST 2005
Pages41-50
Number of pages10
EditionAISC
Publication statusPublished - Dec 1 2005
Externally publishedYes
Event4th IEEE International Workshop on Soft Computing as Transdisciplinary Science and Technology, WSTST 2005 - Muroran, Japan
Duration: May 25 2005May 27 2005

Publication series

NameAdvances in Soft Computing
NumberAISC
ISSN (Print)1615-3871
ISSN (Electronic)1860-0794

Other

Other4th IEEE International Workshop on Soft Computing as Transdisciplinary Science and Technology, WSTST 2005
CountryJapan
CityMuroran
Period5/25/055/27/05

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Computational Mechanics
  • Computer Science Applications

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  • Cite this

    Assal, S. F. M., Watanabe, K., & Izumi, K. (2005). Cooperative fuzzy hint acquisition for industrial redundant robots to avoid the joint limits. In Soft Computing as Transdisciplinary Science and Technology - Proceedings of the 4th IEEE International Workshop, WSTST 2005 (AISC ed., pp. 41-50). (Advances in Soft Computing; No. AISC).