Constrained relations between two coordinated industrial robots for motion control
International Journal of Robotics Research
A fast algorithm for inverse kinematic analysis of robot manipulators
International Journal of Robotics Research
Learning internal representations by error propagation
Parallel distributed processing: explorations in the microstructure of cognition, vol. 1
Advanced fuzzy logic control of a model car in extreme situations
Fuzzy Sets and Systems
Intelligent co-ordination of multiple systems with neural networks
Neural network for robotic control
Neural fuzzy systems: a neuro-fuzzy synergism to intelligent systems
Neural fuzzy systems: a neuro-fuzzy synergism to intelligent systems
Neuro-fuzzy and soft computing: a computational approach to learning and machine intelligence
Neuro-fuzzy and soft computing: a computational approach to learning and machine intelligence
Neural network based control schemes for flexible-link manipulators: simulations and experiments
Neural Networks - Special issue on neural control and robotics: biology and technology
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Introduction to Robotics
Foundations of Neuro-Fuzzy Systems
Foundations of Neuro-Fuzzy Systems
Autonomous Navigation using an Adaptive Hierarchy of Multiple Fuzzy-Behaviors
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Real-time map building and navigation for autonomous robots inunknown environments
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
An online self-constructing neural fuzzy inference network and its applications
IEEE Transactions on Fuzzy Systems
Robust neural-network control of rigid-link electrically driven robots
IEEE Transactions on Neural Networks
Control of a nonholonomic mobile robot using neural networks
IEEE Transactions on Neural Networks
Gradient descent learning algorithm overview: a general dynamical systems perspective
IEEE Transactions on Neural Networks
Neural net robot controller with guaranteed tracking performance
IEEE Transactions on Neural Networks
Learning in linear neural networks: a survey
IEEE Transactions on Neural Networks
Gradient calculations for dynamic recurrent neural networks: a survey
IEEE Transactions on Neural Networks
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We discuss here the implementation aspects of recently developed tools of computational intelligence as applied to joint trajectory generation of a class of multi-joint cooperative robotic systems. This is an issue closely related to the inverse kinematics problem which usually represents a heavy computational burden on the processing power of any complex robotic structure. High nonlinearities, heavy coupling between the degrees of freedom, and time variant configuration of the robot structure heavily contribute to these difficulties. Soft computing techniques have surged in recent years as effective computational tools for emulating the human capabilities when dealing with complex systems. Some of them are used here to synthesize approaches capable of substantially improving the solving of the inverse kinematics problem for a class of robotic systems and help in generating the joint trajectories in a faster way. Comparative results are provided in terms of accuracy and CPU time required for the execution of different trajectories.