Real-time inverse kinematics of redundant manipulators using neural networks and quadratic programming: A Lyapunov-based approach.
Hamid ToshaniMohammad FarrokhiPublished in: Robotics Auton. Syst. (2014)
Keyphrases
- inverse kinematics
- quadratic programming
- real time
- neural network
- robot manipulators
- robot arm
- position and orientation
- linear programming
- control scheme
- end effector
- motion planning
- control system
- pattern recognition
- closed loop
- joint angles
- vision system
- nonlinear systems
- genetic algorithm
- dynamical systems
- control law
- expert systems
- computer vision
- feature selection
- ls svm
- feature extraction
- support vector machine
- fuzzy neural network
- dynamic programming
- fuzzy logic