Exploring motion acquisition of manipulators with multiple degrees-of-redundancy using soft computing techniques

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

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

5 Citations (Scopus)

Abstract

A back propagation neural network (NN) is presented for the inverse kinematic problem to obtain a position control system for manipulators with multiple degrees- of-redundancy, where information provided from a laser transducer at the end-effector is used for planning the trajectory. A fuzzy reasoning system is designed to generate an approximate joint angle vector, because the inverse kinematics in this problem has infinite number of solution vectors. This vector is fed into the NN as a hint input vector rather than as a training vector to limit and guide the searching space. Simulations are implemented on a four-link redundant planar manipulator to show that the present control system is capable of tracking the planned trajectory while avoiding the collision.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages3086-3091
Number of pages6
Publication statusPublished - Dec 1 2004
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: Sep 28 2004Oct 2 2004

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume3

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period9/28/0410/2/04

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Assal, S. F. M., Watanabe, K., & Izumi, K. (2004). Exploring motion acquisition of manipulators with multiple degrees-of-redundancy using soft computing techniques. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3086-3091). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 3).