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Geometrically Bounded Singularities and Joint Limits Prevention of a Three Dimensional Planar Redundant Manipulator Using Artificial Neural Networks

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Emerging Intelligent Computing Technology and Applications (ICIC 2012)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 304))

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Abstract

This paper presents an Artificial Neural Network (ANN) based on the nonlinear dynamical control of a three-dimensional six degrees of freedom planar redundant manipulator. An ANN controller is used for the computation of fast inverse kinematics, and is effective on geometrically bounded singularities and joint limits prevention of redundant manipulators. The radial basis function neural network has been used to estimate the centrifugal and gravitational effects of the joints, when the end-effector follows a desired path.

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References

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Author information

Authors and Affiliations

  1. Center of Research in Applied Electronics (CRAE), University of Malaya, 50603, Kuala Lumpur, Malaysia

    Samer Yahya & Mahmoud Moghavvemi

  2. Faculty of Electrical and Computer Engineering, University of Tehran, Iran

    Mahmoud Moghavvemi

  3. Department of Electrical & Electronic Engineering, The University of Nottingham Malaysia Campus, Malaysia

    Haider Abbas F. Almurib

Authors
  1. Samer Yahya
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  2. Mahmoud Moghavvemi
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  3. Haider Abbas F. Almurib
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Editor information

Editors and Affiliations

  1. Machine Learning and Systems Biology Laboratory, School of Electronics and Information Engineering, Tongji University, Shanghai, China

    De-Shuang Huang

  2. Department of Computer Science and Engineering, Indian Institute of Technology Kanpur, 208016, Kanpur, India

    Phalguni Gupta

  3. Department of Chemistry, University of Louisville, 2320 South Brook Street, 40292, Louisville, Kentucky, USA

    Xiang Zhang

  4. School of Electrical, Computer & Telecommunications Engineering, The University of Wollongong,, 2522, North Wollongong, NSW, Australia

    Prashan Premaratne

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© 2012 Springer-Verlag Berlin Heidelberg

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Yahya, S., Moghavvemi, M., Almurib, H.A.F. (2012). Geometrically Bounded Singularities and Joint Limits Prevention of a Three Dimensional Planar Redundant Manipulator Using Artificial Neural Networks. In: Huang, DS., Gupta, P., Zhang, X., Premaratne, P. (eds) Emerging Intelligent Computing Technology and Applications. ICIC 2012. Communications in Computer and Information Science, vol 304. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31837-5_45

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  • DOI: https://doi.org/10.1007/978-3-642-31837-5_45

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-31836-8

  • Online ISBN: 978-3-642-31837-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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