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

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...

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Bibliographic Details

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/
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