Intelligent control of redundant manipulators in an environment with obstacle


A neural opimization network is proposed to control the redundant robot manipulators in an e&ronment with the obstacle. The weightings of the network are adjusted by considering both the joint dexterity and the capability of collision avoidance of joint differential motion. The fuzzy rules are proposed to determine the capability of collision avoidance of… (More)
DOI: 10.1109/IROS.1991.174443


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