Application of Soft Computing to Serial Manipulator Kinematic Problems
Inspired by the techniques in artificial intelligence, this research applies the constituent of artificial intelligence to perform manipulator positioning tasks. This work combines three methods in artificial intelligence: fuzzy rules, neural networks, and genetic algorithm to form the control bl...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English English |
| Published: |
Universiti Putra Malaysia Press
2004
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| Online Access: | http://psasir.upm.edu.my/id/eprint/3627/1/Application_of_Soft_Computing_to_Serial.pdf |
| Summary: | Inspired by the techniques in artificial intelligence, this research applies the constituent
of artificial intelligence to perform manipulator positioning tasks. This work combines
three methods in artificial intelligence: fuzzy rules, neural networks, and genetic algorithm
to form the control block specifically designed to solve kinematic problems of a six
degree-of-freedom serial manipulator. The direct kinematic of a manipulator is taken as
the feed forward control and the artificial intelligence control block replaces the inverse
kinematics when the reverse solving is done. Fine manipulator positioning is achieved
from the learning stages executed by the artificial intelligence control block. It is shown
experimentally that the technique proposed was capable of producing results with very
low errors. |
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