Planejamento de trajetorias de um manipulador robotico usando redes neurais artificiais

AUTOR(ES)

Marco Antonio Arcos Camargo

DATA DE PUBLICAÇÃO

2002

RESUMO

The objective of this dissertation is to present the trajectory control of a SCARA type manipulator within a working volume defined by the cinematic equations. The determination of the trajectory inside the working volume is obtained using an artificial neural network ofthe type multilayer perceptron. The initial simulate, the manipulator movements between two arbitrary points in the working volume. The angular positions of each link are the input for the generation of the manipulator movements. Some of the movement simulations presented in this work show the behavior ofthe artificial neural network in the border ofthe working volume, in configurations where the traditional geometric models generally present singularities. The artificial neural network used in this work also allows mapping and control ofthe trajectories. For the experimental validation, a nonplanar robotic manipulator of two degrees of freedom of the type Robix RCS-6 (RotationalRotational) was used

ASSUNTO(S)

robotica trajetorias espaciais manipuladores (mecanismo) redes neurais (computação) trabalho - planejamento

Documentos Relacionados

• Identificação e linearização por redes neurais de um manipulador robotico com acoplamento flexivel
• Identificação de sistemas dinamicos usando redes neurais artificiais
• Geração de trajetorias para robos moveis autonomos via redes neurais artificiais
• Acontrollerofmulticolumnsarithmeticusingartificialneuralnetworks
• Previsão dos retornos do índice BOVESPA usando redes neurais artificiais