Control of Robotic Manipulators using G . A . & A .
نویسنده
چکیده
This paper presents application of G.A. to find out the topology of different A.N.N. techniques for the control of Robot. The neural network is trained for the inverse kinematics by providing it with a random data set of the manipulator spread over its workspace. Neural Networks have been used due to the inherent limitations of the conventional techniques to solve the inverse kinematics problem. Using G.A. results for a 2 D.O.F. manipulator, a comparison of different A.N.N. techniques are also presented for the above problems.
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تاریخ انتشار 2004