Kinematic control of a redundant manipulator using an inverse-forward adaptive scheme with a KSOM based hint generator

Robotics and Autonomous Systems

Volumn 58, Issue 5, 2010, Pages 622-633

  Kumar, Swagat ^a   Behera, Laxmidhar ^b   McGinnity, T M ^b  

^a INDIAN INSTITUTE OF TECHNOLOGY KANPUR   (India)

^b UNIVERSITY OF ULSTER   (United Kingdom)

Author keywords

Inverse kinematic solution; Kohonen Self Organizing Map (KSOM); KSOM SC architecture; Network inversion; Radial Basis Function Network (RBFN); Redundancy resolution; Redundant manipulator

Indexed keywords

INVERSE KINEMATIC SOLUTIONS; KOHONEN SELF-ORGANIZING MAP (KSOM); KOHONEN SELF-ORGANIZING MAPS; NETWORK INVERSION; REDUNDANCY RESOLUTION;

ATTITUDE CONTROL; CONFORMAL MAPPING; INVERSE KINEMATICS; QUALITY ASSURANCE; RADIAL BASIS FUNCTION NETWORKS; REDUNDANCY; REDUNDANT MANIPULATORS; SECURITY OF DATA; SELF ORGANIZING MAPS; TARGETS;

NETWORK ARCHITECTURE;

EID: 77950189350     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2009.12.002     Document Type: Article

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