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 proceedingConference contribution

2 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 languageEnglish
Title of host publicationComputational Intelligence International Conference on Intelligent Computing, ICIC 2006, Proceedings
PublisherSpringer Verlag
Pages140-145
Number of pages6
Volume4114 LNAI - II
ISBN (Print)3540372741, 9783540372745
Publication statusPublished - 2006
EventInternational Conference on Intelligent Computing, ICIC 2006 - Kunming, China
Duration: 2006 Aug 162006 Aug 19

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4114 LNAI - II
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

OtherInternational Conference on Intelligent Computing, ICIC 2006
CountryChina
CityKunming
Period06-08-1606-08-19

Fingerprint

Transputers
Inverse Kinematics
Inverse kinematics
Motion Planning
Motion planning
Robot
Singularity
Robots
Parallel processing systems
Parallel Processing
Robustness

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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 (Vol. 4114 LNAI - II, 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.
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. Vol. 4114 LNAI - II 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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Lin, CJ & 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. vol. 4114 LNAI - II, 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.

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. Vol. 4114 LNAI - II 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 proceedingConference contribution

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Lin CJ, Chen C-L. 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. Vol. 4114 LNAI - II. Springer Verlag. 2006. p. 140-145. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).