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The inverse kinematics solution of the Six-DOF Serial Robots is a highly complex nonlinear problem, and the existence of the solution is not unique, therefore, the inverse kinematics method has attracted extensive attention. In this paper, BP neural network is applied to the inverse kinematics of Six-DOF Serial Robots, and the process of inverse solution is transformed into training of network weights...
The motion planning problem for an AmigoBot with only sonar sensors is addressed in this paper. A line-segment-based map is constructed incrementally from readings of sonar sensors. Map-building algorithms are proposed to reduce the size of the map while maintaining the complete and accurate information about the environment. Then the Voronoi diagram of the line-segment-based map is generated with...
A method based on double quaternion theory to solve the inverse kinematics of a 6R robot is addressed in this paper. The kinematics model of a general 6R serial robot is firstly established with double quaternion equations. Then, a 16th order polynomial equation is obtained via linear and resultant elimination. Finally, the inverse posture of the 6R robot is achieved with the solution of the equation...
Path tracking control problem of a mobile robot is discussed in this paper. It's a typical problem in the field of robot locomotion. A control strategy combined with fuzzy control based on the Line of Sight (LOS) is proposed. According to the experience of driver, fuzzy control rule is selected with hierarchical method. With Line-of-sight method, a fuzzy control approach is then constructed. The results...
A backward motion control method for the stabilization problem of a tractor-trailer mobile robot is proposed in this paper. The idea of the proposed method relies basically on the fact that the trailer is stable when the tractor goes forward. Others, when the robot goes backward, a virtual tractor is constructed that drags the trailer with forward speed and equivalent kinematics with respect to the...
Trajectory tracking problem of a tractor-trailer mobile robot with backward speed is addressed in this paper. Due to the nonholonomic constraints, tracking control of the tractor-trailer mobile robot is a more challenging task. Fuzzy control combined with hierarchical method is often shown to be effective for the complex system. With line-of-sight method, a fuzzy control approach is then proposed...
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