Inverse Kinematics Solution of a Five Joint Robot Using NARX Algorithm

October December 2016 2677 JCPS Volume 9 Issue 4 Inverse Kinematics Solution of a Five Joint Robot Using NARX Algorithm I. Jacob Raglend, M. Dev Anand, G. Glan Devadhas, D. M. Mary Synthia Regis Prabha Department of Electrical and Electronics Engineering, Noorul Islam Centre for Higher Education, Kumaracoil 629 180, Thuckalay, Kanyakumari District, Tamilnadu State, India Department of Mechanical Engineering, Noorul Islam Centre for Higher Education, Kumaracoil 629 180, Thuckalay, Kanyakumari District, Tamilnadu State, India Department of Electronics and Instrumentation Engineering, Vimal Jyothi Engineering College, Chemperi, Kannur, Kerala *Corresponding author: E-Mail: [email protected] ABSTRACT One of the significant problem in robot kinematics is to optimising the solution of inverse kinematics which deals with obtaining the joint variables in terms of the end-effector position and orientation and is difficult than the forward kinematics problem. As the degree of freedom of a robot increases the inverse kinematics calculation become more difficult and expensive. In industrial and manufacturing field the use of robot is an inevitable factor and thus the motion of its manipulator is necessary to express more efficiently and simply. Because of this reason kinematical approach is considered here. The Kinematics is the analytical study of geometry of motion of a robot arm and is of two types, Direct and Inverse Kinematics. Here the Neural Network approach is adopted and the algorithm employed is Nonlinear Autoregressive Network (NARX) Neural Network. This paper proposes neural network architecture to optimise the inverse kinematics solution. In this paper the Neural Network idea NARX algorithm is proposed to solve the inverse kinematics problem of a five degree of freedom robot end effector. This technique causes a decrease in the difficulty and calculations faced when using the traditional methods in robotics. Thus the optimised output is evaluated to ensure the efficiency of this approach.