A new approach to the dynamic parameter identification of robotic manipulators

Neural Network Sensitivity to Inputs and Weights and its Application to Functional Identification of Robotics Manipulators

Neural networks are applied to the system identification problems using adaptive algorithms for either parameter or functional estimation of dynamic systems. In this paper the neural networks' sensitivity to input values and connections' weights, is studied. The Reduction-Sigmoid-Amplification (RSA) neurons are introduced and four different models of neural network architecture are proposed and...

GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)

Trajectory Optimization of Cable Parallel Manipulators in Point-to-Point Motion

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

An Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload

In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...

Dynamics and Motion Control of Wheeled Robotic Systems

Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...