Neural network learning from hint for the inverse kinematics problem of redundant arm subject to joint limits

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

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

15 Citations (Scopus)

Abstract

A novel online inverse kinematics solution of redundant manipulator to avoid joint limits is presented. A Widrow-Hoff neural network (NN) with a learning algorithm derived by applying Lyapunov approach is introduced for this problem. 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. The joint velocity limits as well as the joint limits are incorporated into this method. Experiments are conducted for the PA-10 redundant arm to demonstrate the efficacy of the proposed control system. A comparative study is made with the gradient projection method.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages821-826
Number of pages6
DOIs
Publication statusPublished - Dec 1 2005
Externally publishedYes
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: Aug 2 2005Aug 6 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period8/2/058/6/05

Keywords

  • Fuzzy neural network
  • Inverse kinematics
  • Joint limits avoidance
  • Neural network
  • Redundant manipulators

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Assal, S. F. M., Watanabe, K., & Izumi, K. (2005). Neural network learning from hint for the inverse kinematics problem of redundant arm subject to joint limits. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 821-826). [1545082] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545082