Karlik B.Aydin S.2024-07-222024-07-22200009521976http://akademikarsiv.cbu.edu.tr:4000/handle/123456789/20543A 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.EnglishBackpropagationDegrees of freedom (mechanics)Intelligent controlInverse kinematicsInverse problemsLearning algorithmsLearning systemsManipulatorsMathematical modelsMotion controlProblem solvingTransfer functionsStructured artificial neural networksNeural networksArticle10.1016/S0952-1976(99)00050-0