Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm.
Xinpei WangLingbo XieMian JiangKuanfang HeYong ChenPublished in: Robotica (2024)
Keyphrases
- ant colony algorithm
- feed forward
- improved ant colony algorithm
- global optimization
- adaptive neural
- ant colony
- degrees of freedom
- back propagation
- distribution network
- inverse kinematics
- control system
- end effector
- mathematical model
- parallel manipulator
- bp neural network
- control method
- artificial neural networks
- neural nets
- kinematic model
- robot manipulators
- neural network
- ant colony optimization
- output layer
- visual cortex
- hidden layer
- pwm rectifier
- expert systems
- visual servoing
- control strategy
- optimization algorithm
- vision system
- motion planning
- robot arm
- combinatorial optimization
- optimization problems
- machine learning
- adaptive control
- position and orientation
- nonlinear systems
- optimization method
- pose estimation
- cost function