ANFIS based Jacobian for a parallel manipulator mobility assistive device

Ahmed Asker, Omar Salah, Ahmed M R Fath El-Bab, Ahmed A. Ramadan, Samy M F Assal, Salvatore Sessa, Ahmed Abo-Ismail

    研究成果: Conference contribution

    7 引用 (Scopus)

    抄録

    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.

    元の言語English
    ホスト出版物のタイトル2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings
    出版者Institute of Electrical and Electronics Engineers Inc.
    ページ395-400
    ページ数6
    ISBN(印刷物)9781479950119
    DOI
    出版物ステータスPublished - 2014 10 1
    イベント10th UKACC International Conference on Control, CONTROL 2014 - Loughborough
    継続期間: 2014 7 92014 7 11

    Other

    Other10th UKACC International Conference on Control, CONTROL 2014
    Loughborough
    期間14/7/914/7/11

    Fingerprint

    Fuzzy inference
    Manipulators
    Kinematics
    Inverse kinematics
    Computer simulation
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering

    これを引用

    Asker, A., Salah, O., Fath El-Bab, A. M. R., Ramadan, A. A., Assal, S. M. F., Sessa, S., & Abo-Ismail, A. (2014). ANFIS based Jacobian for a parallel manipulator mobility assistive device. : 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings (pp. 395-400). [6915173] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CONTROL.2014.6915173

    ANFIS based Jacobian for a parallel manipulator mobility assistive device. / Asker, Ahmed; Salah, Omar; Fath El-Bab, Ahmed M R; Ramadan, Ahmed A.; Assal, Samy M F; Sessa, Salvatore; Abo-Ismail, Ahmed.

    2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2014. p. 395-400 6915173.

    研究成果: Conference contribution

    Asker, A, Salah, O, Fath El-Bab, AMR, Ramadan, AA, Assal, SMF, Sessa, S & Abo-Ismail, A 2014, ANFIS based Jacobian for a parallel manipulator mobility assistive device. : 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings., 6915173, Institute of Electrical and Electronics Engineers Inc., pp. 395-400, 10th UKACC International Conference on Control, CONTROL 2014, Loughborough, 14/7/9. https://doi.org/10.1109/CONTROL.2014.6915173
    Asker A, Salah O, Fath El-Bab AMR, Ramadan AA, Assal SMF, Sessa S その他. ANFIS based Jacobian for a parallel manipulator mobility assistive device. : 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2014. p. 395-400. 6915173 https://doi.org/10.1109/CONTROL.2014.6915173
    Asker, Ahmed ; Salah, Omar ; Fath El-Bab, Ahmed M R ; Ramadan, Ahmed A. ; Assal, Samy M F ; Sessa, Salvatore ; Abo-Ismail, Ahmed. / ANFIS based Jacobian for a parallel manipulator mobility assistive device. 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 395-400
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