A Neural Network Solution to Singular Configuration in Trajectory Tracking of a Serial Robot

Singularities and uncertainties in arm configurations are the main problems in kinematics of serial robots. The complexity in the solution arises from robots geometry and non-linear equations (trigonometric equations) occur when transforming between Cartesian and joint spaces where multiple solution...

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Bibliographic Details
Main Author: Hasan, Ali T.
Format: Thesis
Language:English
English
Published: 2009
Online Access:http://psasir.upm.edu.my/id/eprint/7833/1/ABS_%3D%3D%3D%3D__FK_2009_56.pdf
http://psasir.upm.edu.my/id/eprint/7833/
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