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Trajectory of an under-actuated manipulator is usually generated according to both kinematics and dynamics of the manipulator, different to that of conventional manipulator. For this reason, another important problem in trajectory generation for the real system of an under-actuated manipulator is the realizablity of trajectory. That is, the real trajectory(More)
PURPOSE The authors aimed to develop 1 novel navigation-guided robotic system for craniofacial surgery to improve accuracy during operation. MATERIALS AND METHODS A new 7-DOF (7-degree-of-freedom) robotic arm was designed and manufactured. Based on our self-developed navigation system TBNAVIS-CMFS, the key technique of integration was studied. A phantom(More)
  • Nan Luan
  • 2008 7th World Congress on Intelligent Control…
  • 2008
A new ANN (artificial neural network) structure is proposed to learn dynamics model of robot. The characterizing feature is that some integral units are appended to a recurrent ANN structure, so it can image dynamic process commendably. Generalization capacity of the learning dynamics model is discussed, as well as its application in optimization, etc. The(More)
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