Motion planning of redundant robots with singularities using transputer based fuzzy inverse kinematic method

Chih Jer Lin; Chieh Li Chen

doi:10.1007/978-3-540-37275-2_18

Motion planning of redundant robots with singularities using transputer based fuzzy inverse kinematic method

Chih Jer Lin, Chieh Li Chen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

The Fuzzy Inverse Kinematic Mapping Method (FIKM) is used to solve the inverse kinematics for the redundant robots with singularities. This method has some advantage due to the less computation load and robustness to the singularity. The method has also been implemented on a transputer-based parallel processing system to solve the motion planning problem of the redundant robots with singularity.

Original language	English
Title of host publication	Computational Intelligence International Conference on Intelligent Computing, ICIC 2006, Proceedings
Publisher	Springer Verlag
Pages	140-145
Number of pages	6
ISBN (Print)	3540372741, 9783540372745
DOIs	https://doi.org/10.1007/978-3-540-37275-2_18
Publication status	Published - 2006 Jan 1
Event	International Conference on Intelligent Computing, ICIC 2006 - Kunming, China Duration: 2006 Aug 16 → 2006 Aug 19

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	4114 LNAI - II
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	International Conference on Intelligent Computing, ICIC 2006
Country/Territory	China
City	Kunming
Period	06-08-16 → 06-08-19

All Science Journal Classification (ASJC) codes

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-540-37275-2_18

Cite this

Lin, C. J., & Chen, C. L. (2006). Motion planning of redundant robots with singularities using transputer based fuzzy inverse kinematic method. In Computational Intelligence International Conference on Intelligent Computing, ICIC 2006, Proceedings (pp. 140-145). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4114 LNAI - II). Springer Verlag. https://doi.org/10.1007/978-3-540-37275-2_18

Lin, Chih Jer ; Chen, Chieh Li. / Motion planning of redundant robots with singularities using transputer based fuzzy inverse kinematic method. Computational Intelligence International Conference on Intelligent Computing, ICIC 2006, Proceedings. Springer Verlag, 2006. pp. 140-145 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Motion planning of redundant robots with singularities using transputer based fuzzy inverse kinematic method",

abstract = "The Fuzzy Inverse Kinematic Mapping Method (FIKM) is used to solve the inverse kinematics for the redundant robots with singularities. This method has some advantage due to the less computation load and robustness to the singularity. The method has also been implemented on a transputer-based parallel processing system to solve the motion planning problem of the redundant robots with singularity.",

author = "Lin, {Chih Jer} and Chen, {Chieh Li}",

year = "2006",

month = jan,

day = "1",

doi = "10.1007/978-3-540-37275-2_18",

language = "English",

isbn = "3540372741",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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pages = "140--145",

booktitle = "Computational Intelligence International Conference on Intelligent Computing, ICIC 2006, Proceedings",

address = "Germany",

note = "International Conference on Intelligent Computing, ICIC 2006 ; Conference date: 16-08-2006 Through 19-08-2006",

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Lin, CJ & Chen, CL 2006, Motion planning of redundant robots with singularities using transputer based fuzzy inverse kinematic method. in Computational Intelligence International Conference on Intelligent Computing, ICIC 2006, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4114 LNAI - II, Springer Verlag, pp. 140-145, International Conference on Intelligent Computing, ICIC 2006, Kunming, China, 06-08-16. https://doi.org/10.1007/978-3-540-37275-2_18

Motion planning of redundant robots with singularities using transputer based fuzzy inverse kinematic method. / Lin, Chih Jer; Chen, Chieh Li.
Computational Intelligence International Conference on Intelligent Computing, ICIC 2006, Proceedings. Springer Verlag, 2006. p. 140-145 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4114 LNAI - II).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Lin, Chih Jer

AU - Chen, Chieh Li

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AB - The Fuzzy Inverse Kinematic Mapping Method (FIKM) is used to solve the inverse kinematics for the redundant robots with singularities. This method has some advantage due to the less computation load and robustness to the singularity. The method has also been implemented on a transputer-based parallel processing system to solve the motion planning problem of the redundant robots with singularity.

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Lin CJ, Chen CL. Motion planning of redundant robots with singularities using transputer based fuzzy inverse kinematic method. In Computational Intelligence International Conference on Intelligent Computing, ICIC 2006, Proceedings. Springer Verlag. 2006. p. 140-145. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-540-37275-2_18

Motion planning of redundant robots with singularities using transputer based fuzzy inverse kinematic method

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