Visual motor control of a 7 DOF robot manipulator using function decomposition and sub-clustering in configuration space

Neural Processing Letters

Volumn 28, Issue 1, 2008, Pages 17-33

  Kumar, Swagat ^a   Patel, Naman ^a   Behera, Laxmidhar ^a,b  

^a INDIAN INSTITUTE OF TECHNOLOGY KANPUR   (India)

^b UNIVERSITY OF ULSTER   (United Kingdom)

Author keywords

7 DOF robot manipulators; Function decomposition; Inverse kinematics; KSOM; PowerCube; Redundancy resolution; Sub clustering; Visual motor coordination; VMC

Indexed keywords

AUTOMATION; CLUSTER ANALYSIS; CLUSTERING ALGORITHMS; FLEXIBLE MANIPULATORS; FLOW OF SOLIDS; FUNCTION EVALUATION; INDUSTRIAL ROBOTS; INVERSE PROBLEMS; JACOBIAN MATRICES; KINEMATICS; MANIPULATORS; MODULAR ROBOTS; MOTORS; NETWORK ARCHITECTURE; NEURAL NETWORKS; QUALITY ASSURANCE; REAL TIME CONTROL; REDUNDANCY; RELIABILITY; ROBOT APPLICATIONS; ROBOTICS; ROBOTS; SOLUTIONS; STRENGTH OF MATERIALS; TARGETS; WAVE FUNCTIONS;

(1 1 1) ORIENTATION; BUSINESS MEDIA; CAMERA CONFIGURATIONS; CONFIGURATION SPACES; CURRENT STATE; DEGREE OF FREEDOM (DOF); DOF ROBOT; END EFFECTORS; FUNCTION DECOMPOSITION; INITIAL CONFIGURATION; INVERSE JACOBIAN; INVERSE KINEMATIC SOLUTIONS; JOINT ANGLES; KINEMATIC MODELLING; KOHONEN; LATTICE (CO); LEARNING APPROACHES; LEARNING ARCHITECTURES; MOTOR CO-ORDINATION; MOTOR CONTROLS; MULTIPLE CONFIGURATIONS; MULTIPLE SOLUTIONS; PRIMARY OBJECTIVE; REAL-TIME IMPLEMENTATIONS; ROBOT MANIPULATORS; SELF ORGANIZED MAPS; SINGLE STEP; SPRINGER (CO); TARGET POINTING; TARGET POSITIONING; TASK SPACE; TRAINED NETWORK; TRAINING DATA;

INVERSE KINEMATICS;

EID: 47849091489     PISSN: 13704621     EISSN: 1573773X     Source Type: Journal    
DOI: 10.1007/s11063-008-9079-8     Document Type: Article

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