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This paper presents the construction of the artificial potential field based on discrete solution to the Laplace equation (Laplacian artificial potential field, LAPF), for path planning of robotic manipulators in two-dimensional and three-dimensional representations of the configuration space (C-space). In general, the characterization of the manipulator's(More)
The paper presents a dynamic modelling technique for a manipulator with multiple flexible links and flexible joints, based on a combined Euler–Lagrange formulation and assumed modes method. The resulting generalised model is validated through computer simulations by considering a simplified case study of a two-link flexible manipulator with joint(More)
The paper describes use of soft computing methods (fuzzy logic and neural network techniques) in the development of a hybrid fuzzy neural control (HFNC) scheme for a multi-link flexible manipulator. A manipulator with multiple flexible links is a multivariable system of considerable complexity due to the inter-link coupling effects that are present in both(More)
The control problem of a robot manipulator with flexures both in the links and joints was investigated using the singular perturbation technique. Owing to the combined effects of the link and joint flexibilities, the dynamics of this type of manipulator become more complex and under-actuated leading to a challenging control task. The singular perturbation(More)
The singular perturbation approach has been shown to be successful in controlling both exible link manipulators and exible joint manipulators. In this paper, the technique is extended to control both link and joint exibility of a multilink manipulator simultaneously while a desired trajectory is being tracked. A comprehensive, closed-form, Euler–Lagrange,(More)
Several gradient-based approaches such as back-propagation, conjugate gradient and Levenberg Marquardt (LM) methods have been developed for training the neural network (NN) based systems. Still, in some situations, like multimodal cost function, these procedures may lead to some local minima, therefore, the evolutionary algorithms (EAs) based procedures(More)
SUMMARY A novel composite control scheme for a manipulator with flexible links and joints is presented that uses the singular perturbation technique (SPT) to divide the manipulator dynamics into reduced order slow and fast subsystems. A neural network controller is then applied for the slow subsystem and a state-feedback H ∞ controller for the fast(More)
Power Distribution system is polluted by harmonic and reactive power disturbances due to the large usages of non-linear loads (Computers, Laser printers, SMPS, Rectifier etc.). Harmonics cause a number of undesirable effects like heating, equipment damage and Electromagnetic Interference effects in the power system. Active power filter (APF) or Active power(More)
INTRODUCTION Fibroadenomas are among the most common tumours of the female breast, occurring most frequently in women of child-bearing age, especially those under 30 years. PRESENTATION OF CASE We report a case with a total of 27 fibroadenomas presenting bilaterally of a 46-year-old woman. The histopathologic and immunophenotypic features of the(More)