Forward Models for Following a Moving Target with the Puma 560 Robot Manipulator

  • Daniel Fernando Tello Gamarra
  • Marco Antonio De Souza Leite Cuadros

Abstract

This paper describes how a forward model could be applied in a manipulator robot to accomplish the task of following a moving target. The forward model has been implemented in the puma 560 robot manipulator in simulation after a babbling motor phase using ANFIS neural networks. The forward model delivers a rough estimation of the position in the operational space of a moving target. Using this information a Cartesian controller tracks the moving target. An implementation of the proposed architecture and the Piepmeir algorithm for the problem of following a moving target is also shown in the paper. The control architecture proposed in this paper was also tested with MLP and RBF neural networks. Results and simulations are shown to demonstrate the applicability of our proposed architecture for tracking a moving target.

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Published
2015-12-18
How to Cite
TELLO GAMARRA, Daniel Fernando; DE SOUZA LEITE CUADROS, Marco Antonio. Forward Models for Following a Moving Target with the Puma 560 Robot Manipulator. Inteligencia Artificial, [S.l.], v. 18, n. 56, p. 31-42, dec. 2015. ISSN 1988-3064. Available at: <http://journal.iberamia.org/index.php/intartif/article/view/56>. Date accessed: 20 jan. 2019. doi: https://doi.org/10.4114/intartif.vol18iss56pp31-42.