A Learning Framework to inverse kinematics of high DOF redundant manipulators

•Solves inverse kinematics of redundant manipulators with high DOFs in real-time.•Selection of inverse kinematic solutions based on redundancy resolution criteria.•A proper parametrizing of some manipulator’s joints through workspace clustering. This paper proposes a learning framework for solving t...

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Veröffentlicht in:	Mechanism and machine theory 2020-11, Vol.153, p.103978, Article 103978
Hauptverfasser:	Jiokou Kouabon, A.G., Melingui, A., Mvogo Ahanda, J.J.B., Lakhal, O., Coelen, V., KOM, M., Merzouki, R.
Format:	Artikel
Sprache:	eng
Schlagworte:	Automatic Control Engineering Computer Science Growing neural gas networks Inverse kinematics Modeling and Simulation Redundant manipulators Robotics Systems and Control Unsupervised learning
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