Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations

• Main Authors: Hasan, Ali T., Ismail, Napsiah, Hamouda, Abdel Magid Salem, Aris, Ishak, Marhaban, Mohammad Hamiruce, Al-Assadi, Hayder M. A. Ali
• Format: Article
• Language: English
• Published: Elsevier 2010
• Online Access: http://psasir.upm.edu.my/id/eprint/11846/1/11846.pdf; http://psasir.upm.edu.my/id/eprint/11846/; http://www.sciencedirect.com/science/article/pii/S0965997809001446?via%3Dihub#!

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. The main idea of this approach is the use of an ANN to learn the robot system chara...