Paper Info
Title
Forward Models for Following a Moving Target with the Puma 560 Robot Manipulator.
Abstract
This paper describes how a forward model could be applied in a manipulator robot to accomplish the task of following a moving target. The forward model has been implemented in the puma 560 robot manipulator in simulation after a babbling motor phase using ANFIS neural networks. The forward model delivers a rough estimation of the position in the operational space of a moving target. Using this information a Cartesian controller tracks the moving target. An implementation of the proposed architecture and the Piepmeir algorithm for the problem of following a moving target is also shown in the paper. The control architecture proposed in this paper was also tested with MLP and RBF neural networks. Results and simulations are shown to demonstrate the applicability of our proposed architecture for tracking a moving target.
Year
DOI
Venue
2015
10.4114/intartif.vol18iss56pp31-42
Inteligencia Artificial, Revista Iberoamericana de Inteligencia Artificial
Field
DocType
Volume
Data mining,Control theory,Computer science,Control theory,Simulation,Manipulator,Visual servoing,Adaptive neuro fuzzy inference system,Artificial neural network,Robot manipulator,Robot,Cartesian coordinate system
Journal
18
Issue
Citations 
PageRank 
56
0
0.34
References 
Authors
0
2
Name
Order
Citations
PageRank
Daniel Fernando Tello Gamarra122.11
Marco Antônio De Souza Leite Cuadros201.69