dc.contributor.author | Mattar, Ebrahim | |
dc.date.accessioned | 2018-07-05T10:43:36Z | |
dc.date.available | 2018-07-05T10:43:36Z | |
dc.date.issued | 2013 | |
dc.identifier.issn | 2210-142X | |
dc.identifier.uri | http://10.7.0.19:8080/xmlui/handle/123456789/229 | |
dc.description.abstract | Relating an arm Cartesian space to joint space and arm dynamics, is an essential issue in arm control that has been given a substantial attention by number of researches. Arm inverse kinematic, is a nonlinear relation, and a closed form solution is not a straight forward, or does not even always exist. This research is presenting a practical use of Neuro-Fuzzy system to solve inverse kinematics problem that used for a two links robotic arm. The concept here is to learn kinematics relations for a robotic arm system. This is to learn and map its environment and remembers what it learnt. For learning the inverse kinematics, Neuro-fuzzy needs information about coordinates, joint angles and actuator position. Information flow needed for the training for a Neuro-fuzzy network is slow and difficult to get by measuring the real structure. Desired Cartesian coordinates are given as input to a Neuro-fuzzy that returns actuator positions. Hence to express them as linguistics fuzzy rules. Neuro-fuzzy system is to generalize and produce an appropriate output. The assembled system has been equipped with C++ interface routines, as being executed from a MATLAB environment, in addition to high-speed low-level communication with the robotic arm sensing devices. | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | University of Bahrain | en_US |
dc.rights | Attribution-NonCommercial-ShareAlike 4.0 International | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | * |
dc.subject | UOB Robotic Arm | en_US |
dc.subject | Inverse Dynamics | en_US |
dc.subject | Computed Torque Law | en_US |
dc.subject | Neuro-fuzzy mapping | en_US |
dc.title | A Practical Neuro-fuzzy Mapping and Control for a 2 DOF Robotic Arm System | en_US |
dc.type | Article | en_US |
dc.identifier.doi | http://dx.doi.org/10.12785/IJCDS/020302 | |
dc.volume | 02 | |
dc.issue | 03 | |
dc.source.title | International Journal of Computing and Digital Systems | |
dc.abbreviatedsourcetitle | IJCDS |
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