ANFIS based Jacobian for a parallel manipulator mobility assistive device
| Autor: | Ahmed Abo-Ismail, Salvatore Sessa, Ahmed M. R. Fath El-Bab, Omar Salah, Ahmed Asker, Ahmed A. Ramadan, Samy M. F. Assal |
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| Rok vydání: | 2014 |
| Předmět: |
Adaptive neuro fuzzy inference system
Forward kinematics Engineering Robot kinematics Inverse kinematics business.industry Parallel manipulator Control engineering Kinematics Computer Science::Robotics symbols.namesake Control theory Kinematics equations Jacobian matrix and determinant symbols business ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | 2014 UKACC International Conference on Control (CONTROL). |
| DOI: | 10.1109/control.2014.6915173 |
| Popis: | Nowadays parallel manipulators are used widely in bioengineering applications; this leads to many exciting expectations as well as challenges. The kinematic analysis of parallel manipulators with their differential kinematics yielding the Jacobian in a closed form is not a trivial task. In this paper a parallel manipulator based mobility assistive device called EJADII is analyzed to determine forward kinematics, inverse kinematics and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained to estimate the Jacobian. This system would be useful when determination of the Jacobian in a closed-form is difficult to determine. The human motion during sit to stand captured by VICON experiment is used with two assisting scenarios to train and verify this system. Computer simulations show relatively good results of the proposed system. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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