Proceedings Article10.1109/AIC-MITCSA.2016.7759929
Inverse kinematics solution for robotic manipulators based on fuzzy logic and PD control
Ali Hussien Mary,Tolgay Kara,Abbas H. Miry +2 more
- 09 May 2016
- pp 1-6
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TL;DR: The proposed method is a closed-loop strategy in which the IKP is restated as a control problem for a dynamic system and the objective is providing a good trajectory tracking performance.
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Abstract: This paper presents a new general and fast scheme for solving the inverse kinematics problem (IKP) of the multilink robot arm. The proposed strategy is general as in it is independent of the geometry of the robot arm or its number of degrees of freedom (DOF) and only the forward kinematics is required. The proposed method is a closed-loop strategy in which the IKP is restated as a control problem for a dynamic system and the objective is providing a good trajectory tracking performance. Therefore, PD-like fuzzy controller is used as the controller for this system. Different Cartesian trajectories with different configurations of robotic arm are simulated to demonstrate the effectiveness and generality of the proposed method.
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References
A genetic algorithm approach to a neural-network-based inverse kinematics solution of robotic manipulators based on error minimization
TL;DR: The proposed hybrid approach combines the characteristics of neural networks and evolutionary techniques to obtain more precise solutions to solve the inverse kinematics problem of a six-joint Stanford robotic manipulator to minimize the error at the end effector.
210
Neural Network based Inverse Kinematics Solution for Trajectory Tracking of a Robotic Arm
TL;DR: For this type of robot a solution to the inverse kinematics problem, needed for generating desired trajectories in the Cartesian space (2D) is found by using a feed-forward neural network.
207
Efficient Exploratory Learning of Inverse Kinematics on a Bionic Elephant Trunk
Matthias Rolf,Jochen J. Steil +1 more
TL;DR: This work presents an approach to learn the inverse kinematics of the “bionic handling assistant”-an elephant trunk robot, and provides the first functioning control concept for this challenging robot platform.
174
Uncertainty analysis and allocation of joint tolerances in robot manipulators based on interval analysis
Weidong Wu,Singiresu S. Rao +1 more
TL;DR: This paper focuses on the optimal allocation of joint tolerances with consideration of the positional and directional errors of the robot end effector and the manufacturing cost.
116
Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations
Ali T. Hasan,Napsiah Ismail,Abdel Magid Hamouda,Ishak Aris,Mohammad Hamiruce Marhaban,H. M. A. A. Al-Assadi +5 more
TL;DR: Singularities and uncertainties in arm configurations are the main problems in kinematics robot control resulting from applying robot model, a solution based on using Artificial Neural Network (ANN) is proposed here.
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