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Obtaining the joint variables that result in a desired position of the robot end-effector called as inverse kinematics is one of the most important problems in robot kinematics and control. As the complexity of robot increases, obtaining the inverse kinematics solution requires the solution of non linear equations having transcendental functions are(More)
This paper proposes an edge preserving filter for removal of impulse noise. Digital images received from various sources are often degraded due to impulse noise and thus become unsuitable for further processing. To overcome this degradation removal of impulse noise is very important. In this paper an effective and efficient method of impulse noise removal(More)
An iterative method for the design of two-band quadrature mirror filter (QMF) banks proposed by Cruesere and Mitra is examined and improved by designing the prototype filters using window method instead of equiripple method. The Kaiser window and Chebyshev window functions are used in the design of prototype filters. The cut-off frequency has been adjusted(More)
This paper proposes a hybrid approach by combining the evolutionary optimization based genetic algorithm (GA) and socio-political process based colonial competitive algorithm (CCA). The performance of hybrid algorithm is illustrated using standard test functions in comparison to basic CCA method. Since the CCA method is newly developed, very little research(More)
Light-weight flexible arms will most likely constitute the next generation robots due to their large payload carrying capacities at high speeds and less power demand. Control problem of robots with flexible members is more complex compared to rigid robots due to vibrations during the motion. This paper presents the social foraging behavior of Escherichia(More)
The dynamics of robot manipulators are highly nonlinear with strong couplings existing between joints and are frequently subjected to structured and unstructured uncertainties. Fuzzy Logic Controller can very well describe the desired system behavior with simple “if-then” relations owing the designer to derive “if-then” rules manually by trial and error. On(More)
Control of an industrial robot includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. In this paper, some new hybrid adaptive neuro-fuzzy control algorithms (ANFIS) have been proposed for manipulator control with uncertainties. These hybrid controllers consist of adaptive neuro-fuzzy(More)