Improved approach to the solution of inverse kinematics problems for robot manipulators

Karlik B., Aydin S.

Engineering Applications of Artificial Intelligence, vol.13, no.2, pp.159-164, 2000 (SCI-Expanded, Scopus) identifier identifier

  • Publication Type: Article / Article
  • Volume: 13 Issue: 2
  • Publication Date: 2000
  • Doi Number: 10.1016/s0952-1976(99)00050-0
  • Journal Name: Engineering Applications of Artificial Intelligence
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.159-164
  • Keywords: inverse kinematics, six degrees-of-freedom robot manipulators, neural network
  • Manisa Celal Bayar University Affiliated: Yes

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.