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- W2162500908 abstract "This paper outlines a neuro-fuzzy inference systems approach to efficient path planning in the work envelope of a redundant robot manipulator. The proposed methodology is two tier; i.e. it deals with continuous obstacle avoidance along with singularities avoidance in the task space. Obstacle avoidance is achieved based on the calculation of an appropriate null space vector and a proper pseudo inverse perturbation helps avoid singularities effectively. The computation of the inverse kinematics is accomplished with the help of dully trained Adaptive Neuro-Fuzzy Inference Systems, thus enabling the methodology to be applicable to all redundant robots operating in a sensor based real time environment. The methodology has been successfully tested on the simulation of a planar redundant manipulator performing some benchmark tasks." @default.
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- W2162500908 date "2006-01-01" @default.
- W2162500908 modified "2023-09-23" @default.
- W2162500908 title "A Neuro - Fuzzy Approach for the Motion Planning of Redundant Manipulators" @default.
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- W2162500908 doi "https://doi.org/10.1109/ijcnn.2006.247217" @default.
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