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...
| المؤلفون الرئيسيون: | , , , , |
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| التنسيق: | مقال |
| اللغة: | English English |
| منشور في: |
Universiti Putra Malaysia Press
2004
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| الوصول للمادة أونلاين: | http://psasir.upm.edu.my/id/eprint/3627/1/Application_of_Soft_Computing_to_Serial.pdf |
| _version_ | 1825943523568910336 |
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| author | Bani Hashim, Ahmad Yusairi Ismail, Napsiah Megat Ahmad, Megat Mohamad Hamdan Salem Hamouda, Abdel Magid Osman, Mohd Rasid |
| author_facet | Bani Hashim, Ahmad Yusairi Ismail, Napsiah Megat Ahmad, Megat Mohamad Hamdan Salem Hamouda, Abdel Magid Osman, Mohd Rasid |
| author_sort | Bani Hashim, Ahmad Yusairi |
| collection | UPM |
| description | 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. |
| first_indexed | 2024-03-06T07:01:40Z |
| format | Article |
| id | upm.eprints-3627 |
| institution | Universiti Putra Malaysia |
| language | English English |
| last_indexed | 2024-03-06T07:01:40Z |
| publishDate | 2004 |
| publisher | Universiti Putra Malaysia Press |
| record_format | dspace |
| spelling | upm.eprints-36272013-05-27T07:09:58Z http://psasir.upm.edu.my/id/eprint/3627/ Application of Soft Computing to Serial Manipulator Kinematic Problems Bani Hashim, Ahmad Yusairi Ismail, Napsiah Megat Ahmad, Megat Mohamad Hamdan Salem Hamouda, Abdel Magid Osman, Mohd Rasid 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. Universiti Putra Malaysia Press 2004 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/3627/1/Application_of_Soft_Computing_to_Serial.pdf Bani Hashim, Ahmad Yusairi and Ismail, Napsiah and Megat Ahmad, Megat Mohamad Hamdan and Salem Hamouda, Abdel Magid and Osman, Mohd Rasid (2004) Application of Soft Computing to Serial Manipulator Kinematic Problems. Pertanika Journal of Science & Technology, 12 (2). pp. 191-200. ISSN 0128-7680 English |
| spellingShingle | Bani Hashim, Ahmad Yusairi Ismail, Napsiah Megat Ahmad, Megat Mohamad Hamdan Salem Hamouda, Abdel Magid Osman, Mohd Rasid Application of Soft Computing to Serial Manipulator Kinematic Problems |
| title | Application of Soft Computing to Serial Manipulator Kinematic Problems |
| title_full | Application of Soft Computing to Serial Manipulator Kinematic Problems |
| title_fullStr | Application of Soft Computing to Serial Manipulator Kinematic Problems |
| title_full_unstemmed | Application of Soft Computing to Serial Manipulator Kinematic Problems |
| title_short | Application of Soft Computing to Serial Manipulator Kinematic Problems |
| title_sort | application of soft computing to serial manipulator kinematic problems |
| url | http://psasir.upm.edu.my/id/eprint/3627/1/Application_of_Soft_Computing_to_Serial.pdf |
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