- Tytuł:
- A learning paradigm for motion control of mobile manipulators
- Autorzy:
-
Abdessemed, F.
Monacelli, E.
Benmahammed, K. - Powiązania:
- https://bibliotekanauki.pl/articles/908373.pdf
- Data publikacji:
- 2006
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
manipulator ruchomy
sieć neuronowa
unikanie przeszkód
mobile manipulator
neural network
backpropagation
obstacle avoidance - Opis:
- Motion control of a mobile manipulator is discussed. The objective is to allow the end-effector to track a given trajectory in a fixed world frame. The motion of the platform and that of the manipulator are coordinated by a neural network which is a kind of graph designed from the kinematic model of the system. A learning paradigm is used to produce the required reference variables for each of the mobile platform and the robot manipulator for an overall coordinate behavior. Simulation results are presented to show the effectiveness of the proposed scheme.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2006, 16, 4; 475-484
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł