Improved approach to the solution of inverse kinematics problems for robot manipulators
No Thumbnail Available
Date
2000
Authors
Karlik B.
Aydin S.
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
A structured artificial neural-network (ANN) approach has been proposed here to control the motion of a robot manipulator. Many neural-network models use threshold units with sigmoid transfer functions and gradient descent-type learning rules. The learning equations used are those of the backpropagation algorithm. In this work, the solution of the kinematics of a six-degrees-of-freedom robot manipulator is implemented by using ANN. Work has been undertaken to find the best ANN configurations for this problem. Both the placement and orientation angles of a robot manipulator are used to fin the inverse kinematics solutions.