Inverse Kinematics Based on Fuzzy Logic and Neural Networks for the WAM-Titan II Teleoperation System
The inverse kinematic problem is crucial for robotics. In this paper, a solution algorithm is presented using artificial intelligence to improve the pseudo-inverse Jacobian calculation for the 7-DOF Whole Arm Manipulator (WAM) and 6-DOF Titan II teleoperation system. An investigation of the inverse...
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Trace: Tennessee Research and Creative Exchange
2007
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| Online Access: | http://trace.tennessee.edu/utk_gradthes/186 |