Kinematics & Compliance Validation of a Vehicle Suspension and Steering Kinematics Optimization Using Neural Networks

Inverse Kinematics in Robotics using Neural Networks

The inverse kinematics problem in robotics requires the determination of the joint angles for a desired position of the end-effector. For this underconstrained and ill-conditioned problem we propose a solution based on structured neural networks that can be trained quickly. The proposed method yields multiple and precise solutions and it is suitable for real-time applications. © 1999 Elsevier S...

Experimental validation of compliance models for LADD transmission kinematics

We introduce new compliance models for LADD transmissions which reduce, by an order of magnitude, inelastic model errors of up to 18% full scale over force and position operating ranges. Elastic models introduced so far were all based on ber elasticity, which show an increase in LADD length from the inelastic length with force. We show that in experiments the opposite is true. The LADD is alway...

Kinematics Optimization for a Flapping-wing Micro Air Vehicle

A flight-dynamics oriented simulation model of a flapping-wing Micro Air Vehicle (MAV) has been developed. This concept is based on flapping flight performed in nature by insects or hummingbirds. An optimization of the flapping kinematics of the wing has been led, in order to maximize the mean lift and thus the payload. A neural network has been designed to reproduce the function shape of the w...

Prediction of Whole-body Lifting Kinematics Using Artificial Neural Networks

GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)