Neural Network Method of Controlling Self-Collisions of Multilink Manipulators Based on the Solution of the Classification Problem
Journal: Applied Sciences
Year: 2023

The problem of self-collisions of manipulators with several links installed on a robot can arise when they work together in one zone. To prevent self-collisions, it is necessary to develop methods for their detection and their subsequent inclusion in control algorithms. This paper proposes an approach for determining the occurrence of self-collisions of manipulators using the Artificial Neural Networks approach. In contrast to the regression problem, this article proposes a classification approa