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

International Conference on Mechatronics, ICOM 2003

Volumn , Issue , 2003, Pages 229-234

  Li, Y ^a   Leong, S H ^a  

^a UNIVERSITY OF MACAU   (Macao)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT THEORY; GENETIC ALGORITHMS; KINEMATICS; NEURAL NETWORKS; PROBLEM SOLVING; VECTORS;

ASSOCIATIVE MAPPING; CEREBELLAR MODEL ARTICULATION CONTROLLER (CMAC); GENETIC PROCESSES; PHYSICAL MEMORY;

REDUNDANT MANIPULATORS;

EID: 4644251886     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. Lorenzo Sciavicco, Bruno Siciliano, "Modeling and Control of Robot Manipulators", The McGraw-Hill Companies, Inc., 1996.
2. W. Thomas Miller III, Filson H. Glanz and L. Gordon Kraft, III, "CMAC: An Associative Neural Network Alternative to Backpropagation", Proceedings of the IEEE Special Issue on Neural Networks, Vol.78, No. 10, October 1990, pp.1561-1567.
3. Carlos A. Coello Coello, "Use of a Self-Adaptive Penalty Approach for Engineering Optimization Problems", Computers in Industry, Vol.41, No.2, Jan. 2000, pp. 113-127.
4. Yangmin Li, Sio Hong Leong, "Kinematics Control of Redundant Manipulators Using CMAC Neural Network", Proceedings of the 5th World Multiconference on Systemics, Cybernetics and Informatics and 7th International Conference on Information, Systems, Analysis and Synthesis, Orlando USA, July 22-25, 2001, pp.274-279.
5. W. Thomas Miller and Filson H. Glanz, "Implementation of the Cerebellar Model Arithmetic Computer - CMAC", UNH_CMAC Version 2.1, The University of New Hampshire, 1996
6. Matthew Wall, "GALib: A C++ Library of Genetic algorithm Components", Version 2.4, Mechanical Engineering Department, Massachusetts Institute of Technology, 1996.