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General Information
Editor-in-chief

Prof. Pascal Lorenz
University of Haute Alsace, France
 
It is my honor to be the editor-in-chief of IJFCC. The journal publishes good papers in the field of future computer and communication. Hopefully, IJFCC will become a recognized journal among the readers in the filed of future computer and communication.

IJFCC 2012 Vol.1(2): 101-105 ISSN: 2010-3751
DOI: 10.7763/IJFCC.2012.V1.27

Encircled Hyper-Redundant Manipulation Using Virtual Constraint, Bezier Curve and Gradient Descent Method

Chatklaw Jareanpon
Abstract—The hyper-redundant robot can be used in object manipulation task. Due to the complexity of the mechanism, the object manipulation task can be reduced into encircling the robot around an object. The robot is required to be formed into some shapes to cage around an object and then moves an object. This method presented in this paper combine the caging process which is the shape control solution for hyperredundant arm using the virtual constraint together with the virtual push force and the manipulating process which is the inverse kinematics solution for hyper-redundant arm using the Neural Network and Bezier curve together with the gradient descent method. The algorithm allows the robot to be able to encircle and move the object to the desired position without grasping. A computer simulation of the serial link manipulator has demonstrated the effectiveness of the proposed method.

Index Terms—Hyper-redundant robot, neural network, bezier curve, gradient descent method

C. Jareanpon is with the Department of Computer Science, Faculty of Informatics, Mahasarakham University, Thailand (e-mail: chatklaw.j@gmail.com).

[PDF]

Cite: Chatklaw Jareanpon, "Encircled Hyper-Redundant Manipulation Using Virtual Constraint, Bezier Curve and Gradient Descent Method," International Journal of Future Computer and Communication vol. 1, no. 2, pp. 101-105, 2012.
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