Citation
Tang, Sai Hong and Ang, Chun Kit and Mohd Arrifin, Mohd Khairol Anuar and Mashohor, Syamsiah
(2014)
Predicting the motion of a robot manipulator with unknown trajectories based on artificial neural network.
International Journal of Advanced Robotic Systems, 11.
art. no. 176.
pp. 1-9.
ISSN 1729-8814; ESSN: 1729-8806
Abstract
Mathematically, the motion of a robot manipulator can be computed through the integration of kinematics, dynamics, and trajectories calculations. However, the calculations are complex and only can be applied if the configuration of the robot and the characteristics of the joint trajectories are known. This paper introduces the use of artificial neural networks (ANN) to overcome these shortcomings by solving nonlinear functions and adapting the characteristics of unknown trajectories. A virtual six-degree-of-freedom (DOF) robot manipulator is exploited as an example to show the robustness of the developed ANN topology.
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Additional Metadata
| Item Type: | Article |
|---|---|
| Divisions: | Faculty of Engineering |
| DOI Number: | https://doi.org/10.5772/59278 |
| Publisher: | InTech Open Access Publisher |
| Keywords: | Artificial neural networks; Robotic manipulator; Unknown trajectory |
| Depositing User: | Nurul Ainie Mokhtar |
| Date Deposited: | 25 Dec 2015 08:33 |
| Last Modified: | 30 Oct 2017 08:01 |
| Altmetrics: | http://www.altmetric.com/details.php?domain=psasir.upm.edu.my&doi=10.5772/59278 |
| URI: | http://psasir.upm.edu.my/id/eprint/34991 |
| Statistic Details: | View Download Statistic |
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