Abstract

BOUDY GONZALEZ, O; LEON MARTINEZ, Javier A  and  ESTRADA RODRIGUEZ, Yordan E. System for the intelligent control of a robotic manipulator. Rev Cie Téc Agr [online]. 2011, vol.20, n.2, pp.24-30. ISSN 2071-0054.

This paper shows the development of software for the intelligent control of a six degree of freedom robot manipulator, with artificial vision techniques for the intelligent identification of objects by means of pattern recognition using an artificial neural network. A method of images segmentation, based on regions growth by pixels grouping, was implemented for the objects detection. a mathematical model, based on an alternative trigonometric method, was developed to solve the inverse kinematic problem of this robot. The system was tested on a satisfactory way; identifying different kinds of objects with a high percent of certainty and determining their location in the workspace of robot.

Keywords : robotic manipulator; intelligent control; artificial vision; pattern recognition; neural networks; kinematic model.

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