Using a Neural Network instead of IKM in 2R Planar Robot to follow rectangular path

Abstract— An educational platform is presented here for the beginner students in the Simulation and Artificial Intelligence sciences. It provides with a start point of building and simulation of the manipulators, especially of 2R planar Robot. It also displays a method to replace the inverse kinematic model (IKM) of the Robot with a simpler one, by using a Multi-Layer Perceptron Neural Network (MLP-NN), to make the end-effector able to track a specific path, which has a rectangular shape (in this article), and allocated in the robot's workspace. The method is based on Back-Propagation Levenberg Marquardt algorithm. This paper also suggests a good strategy for the simulation of the robot's motion in Matlab to tell the beginners how the operation could be done quite closely to the built-in Matlab functions. The control part was ignored here for the simplicity. So we can classify this paper as a manual in the robotic world.