Theoretical Investigation of a Time-Suboptimal Control Method for Rotational Motions of Industrial Manipulators End-Effectors

  • Authors:

  • S. Kilicaslan;Y. Ercan

  • Affiliations:

  • Mechanical Engineering Department, Gazi University, Maltepe, Turkey 06570;Mechanical Engineering Department, TOBB Economics and Technology University, Sogutozu, Turkey 06560

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2005

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Abstract

In this article an Artificial Neural Network (ANN) approach for fast inverse kinematics computation and effective singularities prevention of redundant robot manipulators is presented. The approach is based on establishing some characterizing matrices, ...