Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations

DOI10.1016/j.advengsoft.2009.06.006zbMath1355.70005OpenAlexW2039692768MaRDI QIDQ2654508

Yanyan Li

Publication date: 19 January 2010

Published in: Advances in Engineering Software (Search for Journal in Brave)

Full work available at URL: http://psasir.upm.edu.my/id/eprint/11846/1/11846.pdf

zbMATH Keywords

singularitiesneural networksinverse kinematicsJacobian matrixrobot controlback propagation

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (1)

Cerebellum-inspired neural network solution of the inverse kinematics problem

Cites Work

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• Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• Applications of Damped Least-Squares Methods to Resolved-Rate and Resolved-Acceleration Control of Manipulators

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