Implementation of Artificial Neural Network applied for the solution of inverse kinematics of 2-link serial chain manipulator

In this study, a method of artificial neural network applied for the solution of inverse kinematics of 2-link serial chain manipulator. The method is multilayer perceptrons neural network has applied. This unsupervised method learns the functional relationship between input (Cartesian) space and output (joint) space based on a localized adaptation of the mapping, by using the manipulator itself under joint control and adapting the solution based on a comparison between the resulting locations of the manipulator's end effectors in Cartesian space with the desired location. Even when a manipulator is not available; the approach is still valid if the forward kinematic equations are used as a model of the manipulator. The forward kinematic equations always have a unique solution, and the resulting Neural net can be used as a starting point for further refinement when the manipulator does become available. Artificial neural network especially MLP are used to learn the forward and the inverse kinematic equations of two degrees freedom robot arm. A set of some data sets were first generated as per the formula equation for this the input parameter X and Y coordinates in inches. Using these data sets was basis for the training and evaluation or testing the MLP model. Out of the sets data points, maximum were used as training data and some were used for testing for MLP. Backpropagation algorithm was used for training the network and for updating the desired weights. In this work epoch based training method was applied.