TY - GEN
T1 - ANFIS based-kinematic modeling of mobile parallel robot
AU - Khoukhi, Amar
AU - Hamdan, Mutaz
AU - Al-Sunni, Fouad
PY - 2012
Y1 - 2012
N2 - This paper considers a kinematic based ANFIS motion modeling and control of a mobile parallel robot (MPR), consist of a multi-degree of freedom (DOF) parallel manipulator and a mobile platform. First, kinematics modeling for the hybrid structure is derived. Then singularities of the MPR structure are identified. Taking the self motion into consideration due to the redundancy, the inverse kinematic is derived using hybrid neuro-fuzzy system called NeFIK. Simulation results show the effectiveness of the proposed approach.
AB - This paper considers a kinematic based ANFIS motion modeling and control of a mobile parallel robot (MPR), consist of a multi-degree of freedom (DOF) parallel manipulator and a mobile platform. First, kinematics modeling for the hybrid structure is derived. Then singularities of the MPR structure are identified. Taking the self motion into consideration due to the redundancy, the inverse kinematic is derived using hybrid neuro-fuzzy system called NeFIK. Simulation results show the effectiveness of the proposed approach.
KW - Dynamic Modeling
KW - Kinematic Redundancy
KW - Mobile Parallel Robot (MPR)
KW - Mobile Robot
KW - Parallel Robots
KW - Singularity Characterization and Avoidance
UR - https://www.scopus.com/pages/publications/84863092277
U2 - 10.1109/UKSim.2012.42
DO - 10.1109/UKSim.2012.42
M3 - Conference contribution
AN - SCOPUS:84863092277
SN - 9780769546827
T3 - Proceedings - 2012 14th International Conference on Modelling and Simulation, UKSim 2012
SP - 242
EP - 247
BT - Proceedings - 2012 14th International Conference on Modelling and Simulation, UKSim 2012
ER -