Kinematics control of redundant manipulators using a CMAC neural network combined with a genetic algorithm

被引：19

作者：

Li, YM ^{[1
]}

Leong, SH ^{[1
]}

机构：

[1] Univ Macau, Dept Electromech Engn, Fac Sci & Technol, Taipa, Macau SAR, Peoples R China

来源：

ROBOTICA | 2004年 / 22卷

关键词：

redundant manipulators; kinematics; CMAC neural networks;

D O I：

10.1017/S0263574704000414

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A method is proposed to solve the inverse kinematics and control problems of robot control systems using a cerebellar model articulation controller neural network combined with a genetic algorithm. Computer simulations and experiments with a 7-DOF redundant modular manipulator have demonstrated the effectiveness of the proposed method.

引用

页码：611 / 621

页数：11

共 11 条

[1]

[Anonymous], 1997, OPENGL PROGRAMMING G

[2]

Bengio S., 1994, Proceedings of the First IEEE Conference on Evolutionary Computation. IEEE World Congress on Computational Intelligence (Cat. No.94TH0650-2), P324, DOI 10.1109/ICEC.1994.349932

[3]

GRIGNON MP, 1999, P DETC99 1999 ASME D

[4]

Li Y, 2003, ICOM 2003: INTERNATIONAL CONFERENCE ON MECHATRONICS, P229

[5]

LI Y, 2003, J MECH ENG, V54, P65

[6]

Macnab CJB, 1998, IEEE INT CONF ROBOT, P511, DOI 10.1109/ROBOT.1998.677025

[7] CMAC - AN ASSOCIATIVE NEURAL NETWORK ALTERNATIVE TO BACKPROPAGATION [J].

MILLER, WT ;

GLANZ, FH ;

KRAFT, LG .

PROCEEDINGS OF THE IEEE, 1990, 78 (10) :1561-1567

[8]

MILLER WT, 1994, IMPLEMENTATION CEREB

[9]

Sciavicco L., 1996, MODELING CONTROL ROB

[10]

Tsoukalas L. H., 1997, FUZZY NEURAL APPROAC

← 1 2 →