Geometrically bounded singularities and joint limits prevention of a three dimensional planar redundant manipulator using artificial neural networks

• Main Authors: Yahya, S., Moghavvemi, M., Almurib, H.A.F.
• Format: Conference or Workshop Item
• Published: 2012
• Subjects: TA Engineering (General). Civil engineering (General)
• Online Access: http://eprints.um.edu.my/9737/

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 singularitie...