Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations
Singularities and uncertainties in arm configurations are the main problems in kinematics robot control resulting from applying robot model, a solution based on using Artificial Neural Network (ANN) is proposed here. The main idea of this approach is the use of an ANN to learn the robot system chara...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2010
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| Online Access: | http://psasir.upm.edu.my/id/eprint/11846/1/11846.pdf |