By Topic

Computational intelligence based approach for the joint trajectory generation of cooperative robotic systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Gueaieb, W. ; Waterloo Univ., Ont., Canada ; Karray, F. ; Al-Sharhan, S.

We discuss here the implementation aspects of recently developed tools of computational intelligence for tackling the issue of joint trajectory generation of a class of multi-joint cooperative robotic systems. This is closely related to the inverse kinematics problem which usually represents a heavy computational burden on the processing power of any complex robotic structure. High nonlinearities, heavy coupling between the degrees of freedom, and time variant configuration of the robot structure heavily contribute to these difficulties. Soft computing techniques have surged in recent years as effective computational tools for emulating the human capabilities when dealing with complex systems. Some of them are used here to synthesize approaches capable of substantially improving solving the inverse kinematics problem for a class of robotic systems and help generating the joint trajectories in a faster way

Published in:

Systems, Man, and Cybernetics, 2000 IEEE International Conference on  (Volume:5 )

Date of Conference: