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.
本文言語 | English |
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ホスト出版物のタイトル | 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings |
出版社 | Institute of Electrical and Electronics Engineers Inc. |
ページ | 395-400 |
ページ数 | 6 |
ISBN(印刷版) | 9781479950119 |
DOI | |
出版ステータス | Published - 2014 10月 1 |
イベント | 10th UKACC International Conference on Control, CONTROL 2014 - Loughborough 継続期間: 2014 7月 9 → 2014 7月 11 |
Other
Other | 10th UKACC International Conference on Control, CONTROL 2014 |
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City | Loughborough |
Period | 14/7/9 → 14/7/11 |
ASJC Scopus subject areas
- 制御およびシステム工学