Paper Info
Title
ANFIS Based-Kinematic Modeling of Mobile Parallel Robot
Abstract
This paper considers a kinematic based ANFIS motion modeling and control of a mobile parallel robot (MPR), consist of a multi-degree of freedom (DOF) parallel manipulator and a mobile platform. First, kinematics modeling for the hybrid structure is derived. Then singularities of the MPR structure are identified. Taking the self motion into consideration due to the redundancy, the inverse kinematic is derived using hybrid neuro-fuzzy system called NeFIK. Simulation results show the effectiveness of the proposed approach.
Year
DOI
Venue
2012
10.1109/UKSim.2012.42
UKSim
Keywords
Field
DocType
parallel robot,mpr structure,mobile platform,hybrid structure,parallel manipulator,kinematics modeling,anfis motion modeling,hybrid neuro-fuzzy system,inverse kinematic,anfis based-kinematic modeling,mobile parallel robot,self motion,mobile robot,parallel robots,fuzzy control,dynamic modeling,motion control,mobile communication,mobile robots,trajectory,inverse kinematics,kinematics
Parallel manipulator,Motion control,Kinematics,Simulation,Control theory,Computer science,Redundancy (engineering),System dynamics,Adaptive neuro fuzzy inference system,Fuzzy control system,Mobile robot
Conference
Citations 
PageRank 
References 
0
0.34
8
Authors
3
Name
Order
Citations
PageRank
Amar Khoukhi1377.64
Mutaz Hamdan2111.20
Fouad Al-Sunni311.06