DocumentCode :
2350642
Title :
A radial basis function network approach for geometrically bounded manipulator inverse kinematics computation
Author :
Mayorga, René K. ; Sanongboon, Pronnapa
Author_Institution :
Fac. of Eng., Regina Univ., Sask., Canada
Volume :
4
fYear :
2003
fDate :
27-31 Oct. 2003
Firstpage :
3564
Abstract :
In this article a radial basis function network (RBFN) approach for fast inverse kinematics computation and effective geometrically bounded singularities prevention of redundant manipulators is presented. The approach is based on establishing some characterizing matrices, representing some bounded geometrical concepts, in order to yield a simple performance index and a space vector for singularities avoidance/prevention and safe path generation. Here, this space vector is computed using a properly trained RBFN and included in the computation of the inverse kinematics being performed also by another properly trained RBFN.
Keywords :
manipulator kinematics; path planning; performance index; radial basis function networks; redundant manipulators; bounded geometrical concepts; inverse kinematics computation; matrices; path generation; performance index; radial basis function network; redundant manipulators; singularities avoidance/prevention; space vector; Character generation; Computer networks; Differential equations; Kinematics; Manipulators; Nonlinear equations; Null space; Orbital robotics; Performance analysis; Radial basis function networks;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
Type :
conf
DOI :
10.1109/IROS.2003.1249708
Filename :
1249708
Link To Document :
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