Abstract
The paper presents a novel method for solving the kinematics problems in real time for fast-moving robot manipulators, animation characters, and hexapod robots. The method uses certain properties of the kinematics map and is based on spatial decomposition, classification with fuzzy logic, and neural network representation of data that are performed during an off-line process. As a result of the preprocessing, the online time for computing the kinematics is extremely small making it possible to perform real-time operations. Examples are provided to demonstrate the performance of the method. Copyright © 2011 World Scientific Publishing Company.
| Original language | English |
|---|---|
| Pages (from-to) | 375-390 |
| Journal | International Journal of Humanoid Robotics |
| Volume | 8 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - Jun 2011 |
Citation
Tarokh, M., & Wang, M. (2011). A computational intelligent approach to kinematics problems in robotics and computer animation. International Journal of Humanoid Robotics, 8(2), 375-390. https://doi.org/10.1142/S0219843611002460Keywords
- Kinematics
- Robotics
- Computer animation
- Fuzzy logic
- Neural networks