A motion planning strategy and its neural network implementation for an articulated two-link arm with scissor hand system

摘要

Summary form only given, as follows. The authors considered the inverse kinematics of a two-link arm with a scissor-hand-type manipulator. The study focused on a combination of an artificial neural network model and a motion planning strategy that insures safe motion of the arm with respect to the object. Whenever an obstacle is encountered, the arm attempts to slide along its surface, therefore avoiding the obstacle by means of a local tangent strategy and its artificial neural network implementation compensating the inverse kinematics.