Shauri, R. L. A. and Sabri, M. A. A. M. and Roslan, A. B.
(2024)
Position-based ANN impedance control for a three-fingered robot hand / R. L. A. Shauri, M. A. A. M. Sabri and A. B. Roslan.
Journal of Mechanical Engineering (JMechE), 21 (3): 15.
pp. 247-268.
ISSN 1823-5514 ; 2550-164X
Identification Number (DOI): 10.24191/jmeche.v21i3.27357
Abstract
A feedforward ANN was previously developed for recognition of two objects i.e. a spongy ball and a plastic bottle but was verified through simulation only. In this work, the feasibility of the ANN model is tested by applying it to the robot’s impedance control which takes the exerted force at the finger as input while resulting in an output for the selection rule of the impedance stiffness parameter,
Item Details
| Item Type: | Article |
|---|---|
| Creators: | Creators Email / ID Num. Shauri, R. L. A. ruhizan@uitm.edu.my Sabri, M. A. A. M. UNSPECIFIED Roslan, A. B. UNSPECIFIED |
| Subjects: | Q Science > QA Mathematics > Instruments and machines > Electronic Computers. Computer Science > Neural networks (Computer science) |
| Divisions: | Universiti Teknologi MARA, Shah Alam > College of Engineering |
| Journal or Publication Title: | Journal of Mechanical Engineering (JMechE) |
| UiTM Journal Collections: | UiTM Journals > Journal of Mechanical Engineering (JMechE) |
| ISSN: | 1823-5514 ; 2550-164X |
| Volume: | 21 |
| Number: | 3 |
| Page Range: | pp. 247-268 |
| Keywords: | Artificial Neural Network, Object Recognition, Impedance Control |
| Date: | 2024 |
| URI: | https://ir.uitm.edu.my/id/eprint/101339 |
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