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

Published online by Cambridge University Press:  15 November 2004

Yangmin Li and
Sio Hong Leong
Yangmin Li
Affiliation:
Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira S.J., Taipa, Macau SAR (P.R.China)
Sio Hong Leong
Affiliation:
Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira S.J., Taipa, Macau SAR (P.R.China)
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Abstract

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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.

Keywords

Redundant manipulatorsKinematicsCMAC neural networks

Information

Type
Research Article
Information
Robotica , Volume 22 , Issue 6 , November 2004, pp. 611 - 621
Copyright
© 2004 Cambridge University Press