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
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.
|Keyword:||Fuzzy logic, neural network, genetic algorithm, direct kinematics, inverse kinematics|
|Publisher:||Universiti Putra Malaysia Press|
|Deposited By:||Nur Izyan Mohd Zaki|
|Deposited On:||30 Nov 2009 15:30|
|Last Modified:||20 Aug 2010 16:18|
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