KFU. Card publication. Robot arm planning and control by tau-Jerk theory and vision-based recurrent ANN observer

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FEDERAL UNIVERSITY

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ROBOT ARM PLANNING AND CONTROL BY TAU-JERK THEORY AND VISION-BASED RECURRENT ANN OBSERVER

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2021

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Authors, employees of KFU

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Carvajal I., Martinez-Garcia E.A., Lavrenov R., Magid E. Robot arm planning and control by τau-Jerk theory and a vision-based recurrent ANN observer // The 15th Siberian Conference on Control and Communications (SIBCON 2021) (Kazan, Russia; 13-15 May 2021) (online) - � 9438857.

Annotation

2021 International Siberian Conference on Control and Communications (SIBCON)

Keywords

Robotic-arm, assembling, model-based-control, tau-theory, vision, Hopfield-neurons, by-layer-ANN

The name of the journal

2021 International Siberian Conference on Control and Communications (SIBCON)

URL

https://ieeexplore.ieee.org/document/9438857

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=254374&p_lang=2

Resource files

File name	Size (MB)	Format
F_09438857.pdf	3,19	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2021-01-01T00:00:00Z	ru_RU
dc.date.available	2021-01-01T00:00:00Z	ru_RU
dc.date.issued	2021	ru_RU
dc.identifier.citation	Carvajal I., Martinez-Garcia E.A., Lavrenov R., Magid E. Robot arm planning and control by τau-Jerk theory and a vision-based recurrent ANN observer // The 15th Siberian Conference on Control and Communications (SIBCON 2021) (Kazan, Russia; 13-15 May 2021) (online) - � 9438857.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=254374&p_lang=2	ru_RU
dc.description.abstract	2021 International Siberian Conference on Control and Communications (SIBCON)	ru_RU
dc.description.abstract	This work describes a planning path-tracking control for a 6-axis robot manipulator in palettes assembly. Two biologically inspired approaches motivated this work: the general tau-Jerk theory for trajectory tracking and a recurrent bi-layer Hopfield artificial neural network. Equidistant Cartesian points generate free-collision paths between the robot and the palette. Nonlinear regression-based 3rd grade polynomials represents polynomial assembling trajectories. A variational method optimizes paths length. The method is validated through numeric simulations, showing feasibility and effectiveness.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Robotic-arm	ru_RU
dc.subject	assembling	ru_RU
dc.subject	model-based-control	ru_RU
dc.subject	tau-theory	ru_RU
dc.subject	vision	ru_RU
dc.subject	Hopfield-neurons	ru_RU
dc.subject	by-layer-ANN	ru_RU
dc.title	Robot arm planning and control by tau-Jerk theory and vision-based recurrent ANN observer	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU