Trajectory tracking for a serial robot manipulator passing through singular configurations based on the adaptive kinematics Jacobian method
This paper discusses the use of artificial neural networks (ANNs) as a method of trajectory tracking control for a robotic system. Using an ANN does not require any prior knowledge of the kinematics model of the system being controlled; the basic idea of this concept is the use of the ANN to learn t...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Sage Publications
2009
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| Online Access: | http://psasir.upm.edu.my/id/eprint/17466/1/Trajectory%20tracking%20for%20a%20serial%20robot%20manipulator%20passing%20through%20singular%20configurations%20based%20on%20the%20adaptive%20kinematics%20Jacobian%20method.pdf http://psasir.upm.edu.my/id/eprint/17466/ |
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| Institution: | Universiti Putra Malaysia |
| Language: | English |