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

Authors:
Yangmin Li;Sio Hong Leong
Affiliations:
Dept. of Electromech. Eng., Fac. of Sci. and Technol., Univ. of Macau, Taipa, Macau SAR, PRC;Dept. of Electromech. Eng., Fac. of Sci. and Technol., Univ. of Macau, Taipa, Macau SAR (P.R.China)
Venue:
Robotica
Year:
2004

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Abstract

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.