Kinematics control of a redundant planar manipulator with a MLP neural network

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F21%3A00355673" target="_blank" >RIV/68407700:21220/21:00355673 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICECCME52200.2021.9591086" target="_blank" >https://doi.org/10.1109/ICECCME52200.2021.9591086</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICECCME52200.2021.9591086" target="_blank" >10.1109/ICECCME52200.2021.9591086</a>

Result language
angličtina
Original language name
Kinematics control of a redundant planar manipulator with a MLP neural network
Original language description
A redundant manipulator inverted kinematics, required for a position control, can be solved by a multilayer perceptron neural network, if an additional function provides the uniqueness of the solution for any position in the working area. This paper describes a new method for a preparation of data for training, allowing incorporating an obstacle avoidance problem. This method provides a data preparation for an off-line solution; the positions of obstacles have to be known before the neural network is trained. A batch training method is assumed.
Czech name
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Czech description
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Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2021 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME)
ISBN
978-1-6654-1262-9
ISSN
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e-ISSN
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Number of pages
5
Pages from-to
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Publisher name
IEEE Industrial Electronics Society
Place of publication
Piscataway
Event location
Mauritius
Event date
Oct 7, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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