Inverse Kinematic Solution of 5R Manipulator using ANN and ANFIS

Inverse Kinematic Solution of Robot Manipulator Using Hybrid Neural Network

Inverse kinematics of robot manipulator is to determine the joint variables for a given Cartesian position and orientation of an end effector. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Although artificial neural network (ANN) can be gainfully used to yield the desired results but the gra...

Solution of Inverse Kinematic Problem of a 2DOF Robot Using Decomposition Method

The inverse kinematics problem of a two degree of freedom (2DOF) planar robot arms issolved using Adomian’s decomposition method (ADM), after converting to a system of twononlinear algebraic equations. The advantage of the method is that it gives the solutions asfunctions of the desired position of the end effecter and the length of the arms. The accuracyof the solutions can be increased up to ...

Surface Roughness Prediction Model Using Ann & Anfis

Now a days the general manufacturing problem can be described as the achievement of a predefined product quality with given equipment, cost and time constraints. There is a rapid development in the quality of advanced aero space materials like aluminum and its alloys with improved properties. The difficulties in machining of these materials economically and effectively are limiting their applic...

Inverse Kinematic and Jacobian Solution for Serial Manipulator based on Optimized Neural Network

Singularities and uncertainty in manipulator dynamic is a major issue in kinematic control of manipulator which is obtained by applying robot model. In this paper, artificial neural networks with optimal training process and training data have been proposed as a way to solve this problem. The main idea of this approach is to use an artificial neural network to learn the characteristics of the r...

Wrist-partitioned inverse kinematic accelerations and manipulator dynamics