Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations
نویسندگان
چکیده
منابع مشابه
Performance Prediction Network for Serial Manipulators Inverse Kinematics Solution Passing Through Singular Configurations
This paper is devoted to the application of Artificial Neural Networks (ANN) to the solution of the Inverse Kinematics (IK) problem for serial robot manipulators, in this study two networks were trained and compared to examine the effect of considering the Jacobian Matrix to the efficiency of the IK solution. Given the desired trajectory of the end effector of the manipulator...
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ژورنال
عنوان ژورنال: Advances in Engineering Software
سال: 2010
ISSN: 0965-9978
DOI: 10.1016/j.advengsoft.2009.06.006