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

Yangmin Li, S. H. Leong

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)

Abstract

This paper presents how to combine CMAC(Cerebellar Model Articulation Controller) neural network with Genetic Algorithms to investigate the inverse kinematics control of redundant manipulators. A comparative study between CMAC neural network and GA has been made. Using an integrated algorithm of CMAC and GA, we successfully solve the issue of inverse kinematics control with constraint conditions for redundant manipulators.
Original languageEnglish
Title of host publicationInternational Conference on Mechatronics, ICOM 2003
Pages229-234
Number of pages6
Publication statusPublished - 1 Dec 2003
Externally publishedYes
EventInternational Conference on Mechatronics, ICOM 2003 -
Duration: 18 Jun 200318 Jun 2003

Conference

ConferenceInternational Conference on Mechatronics, ICOM 2003
Period18/06/0318/06/03

ASJC Scopus subject areas

  • Engineering(all)

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