Title :
A paradigm for intelligent motion planning of robot manipulators
Author :
Mayorga, René V.
Author_Institution :
Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
Abstract :
A paradigm for intelligent motion planning of robot manipulators is presented, and its implementation by some unconventional (AI, soft computing, computational intelligence) techniques is outlined. The article focuses on those aspects that lead, from an intelligent/unconventional point of view, to a unified framework for real-time motion planning, singularities prevention, and/or pseudoinverse robustness
Keywords :
Jacobian matrices; fuzzy logic; fuzzy systems; inference mechanisms; intelligent control; manipulators; neural nets; path planning; robust control; AI; computational intelligence; intelligent motion planning; pseudoinverse robustness; real-time motion planning; robot manipulators; singularities prevention; soft computing; unified framework; Competitive intelligence; Computational intelligence; Fuzzy neural networks; Fuzzy systems; Intelligent robots; Manipulators; Motion planning; Neural networks; Real time systems; Robustness;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.812484
