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

Yangmin Li; S. H. Leong

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

Yangmin Li
, S. H. Leong

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-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 language	English
Title of host publication	International Conference on Mechatronics, ICOM 2003
Pages	229-234
Number of pages	6
Publication status	Published - 1 Dec 2003
Externally published	Yes
Event	International Conference on Mechatronics, ICOM 2003 - Duration: 18 Jun 2003 → 18 Jun 2003

Conference

Conference	International Conference on Mechatronics, ICOM 2003
Period	18/06/03 → 18/06/03

ASJC Scopus subject areas

General Engineering

Cite this

@inproceedings{90daba7ca914423fa6ba14df121290c4,

title = "Kinematics control of redundant manipulators using CMAC neural network combined with genetic algorithms",

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.",

author = "Yangmin Li and Leong, \{S. H.\}",

year = "2003",

month = dec,

day = "1",

language = "English",

isbn = "1860584209",

pages = "229--234",

booktitle = "International Conference on Mechatronics, ICOM 2003",

note = "International Conference on Mechatronics, ICOM 2003 ; Conference date: 18-06-2003 Through 18-06-2003",

}

TY - GEN

T1 - Kinematics control of redundant manipulators using CMAC neural network combined with genetic algorithms

AU - Li, Yangmin

AU - Leong, S. H.

PY - 2003/12/1

Y1 - 2003/12/1

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/4644251886

M3 - Conference article published in proceeding or book

SN - 1860584209

SP - 229

EP - 234

BT - International Conference on Mechatronics, ICOM 2003

T2 - International Conference on Mechatronics, ICOM 2003

Y2 - 18 June 2003 through 18 June 2003

ER -

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

Abstract

Conference

ASJC Scopus subject areas

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