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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| Formato: | Conference or Workshop Item |
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2012
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