Trajectory tracking for a serial robot manipulator passing through singular configurations based on the adaptive kinematics Jacobian method

• Main Authors: Hasan, Ali T., Hamouda, Abdel Magid Salem, Ismail, Napsiah, Aris, Ishak, Marhaban, Mohammad Hamiruce
• Format: Article
• Language: English
• Published: Sage Publications 2009
• Online Access: http://psasir.upm.edu.my/id/eprint/17466/1/Trajectory%20tracking%20for%20a%20serial%20robot%20manipulator%20passing%20through%20singular%20configurations%20based%20on%20the%20adaptive%20kinematics%20Jacobian%20method.pdf; http://psasir.upm.edu.my/id/eprint/17466/

This paper discusses the use of artificial neural networks (ANNs) as a method of trajectory tracking control for a robotic system. Using an ANN does not require any prior knowledge of the kinematics model of the system being controlled; the basic idea of this concept is the use of the ANN to learn t...