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...
| Main Authors: | , , |
|---|---|
| Format: | Conference or Workshop Item |
| Published: |
2012
|
| Subjects: |