A Neural Network Solution to Singular Configuration in Trajectory Tracking of a Serial Robot
Singularities and uncertainties in arm configurations are the main problems in kinematics of serial robots. The complexity in the solution arises from robots geometry and non-linear equations (trigonometric equations) occur when transforming between Cartesian and joint spaces where multiple solution...
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| Format: | Thesis |
| Language: | English English |
| Published: |
2009
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| Online Access: | http://psasir.upm.edu.my/id/eprint/7833/1/ABS_%3D%3D%3D%3D__FK_2009_56.pdf |
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