Approximation of the inverse kinematics of a robotic manipulator using a neural network

Kinematic Synthesis of Parallel Manipulator via Neural Network Approach

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

Kinematic Analysis of 2-DOF Planer Robot Using Artificial Neural Network

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the DenavitHartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks f...

An LPV Approach to Sensor Fault Diagnosis of Robotic Arm

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...

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

A study of neural network based inverse kinematics solution for a three-joint robot

A neural network based inverse kinematics solution of a robotic manipulator is presented in this paper. Inverse kinematics problem is generally more complex for robotic manipulators. Many traditional solutions such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. In this study, a three-joint robotic manipulator simulation software, ...