Name
Title | ||
|---|---|---|
Fast Estimation Of The Kinematics Of The Parallel Modules Of A Variable-Geometry-Truss Manipulator Using Neural Networks |
Abstract | ||
|---|---|---|
In this paper, the kinematics of the parallel modules of a variable-geometry-truss (VGT) manipulators is studied, at the position level, by a multi-layer neural network and via the kinematics of an equivalent serial mechanism. We show that the trained network provides good estimate of the exact solution to the Kinematics of each module. Moreover, this indirect approach allows us to efficiently project the practical limits on the displacement of actuators onto the backbone-curve posture. This feature of the proposed approach is very attractive for the real-time configuration control and motion planning of a VGT manipulator, that comprises a large number of parallel modules connected in series. |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1109/ROBOT.1998.677396 | 1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 |
Keywords | Field | DocType |
actuators,exact solution,backpropagation,neural networks,neural network,application software,kinematics,path planning,robots,parameter estimation,spine,motion control,real time,motion planning,configuration control | Motion planning,Parallel manipulator,Truss,Motion control,Kinematics,Kinematics equations,Control theory,Computer science,Control engineering,Artificial neural network,Backpropagation | Conference |
ISSN | Citations | PageRank |
1050-4729 | 0 | 0.34 |
References | Authors | |
5 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kourosh E. Zanganeh | 1 | 131 | 16.04 |
| Peter C. Hughes | 2 | 4 | 0.98 |