Eric M. Rosales

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SUMMARY For robotic manipulators that are redundant or with high degrees of freedom (dof), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first(More)
— For robotic manipulators that are redundant or with high degrees of freedom, an analytical solution to the inverse kinematics is very difficult or impossible. As alternative approaches, neural networks and optimal search methods have been widely used for inverse kinematics modeling and control in robotics. This paper presents a first analytical solution(More)
— Inverse kinematics computation using an artificial neural network that learns the inverse kinematics of a robot arm has been employed by many researchers. However, the inverse kinematics system of typical robot arms with joint limits is a multi-valued and discontinuous function. Since it is difficult for a well-known multi-layer neural network to(More)
Manipulator control is one of the main research areas in robotics, demanding for models with fast convergence and reliable stability for modelling and control. In this paper, the mechanisms of CMAC and ANFIS models for input space partitioning are analysed and their performance is compared to each other in terms of their abilities to model complex(More)
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