One of the most important problems in robot kinematics and control is, finding the solution of Inverse Kinematics. Inverse kinematics computation has been one of the main problems in robotics research. As the Complexi...One of the most important problems in robot kinematics and control is, finding the solution of Inverse Kinematics. Inverse kinematics computation has been one of the main problems in robotics research. As the Complexity of robot increases, obtaining the inverse kinematics is difficult and computationally expensive. Traditional methods such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. As alternative approaches, neural networks and optimal search methods have been widely used for inverse kinematics modeling and control in robotics This paper proposes neural network architecture that consists of 6 sub-neural networks to solve the inverse kinematics problem for robotics manipulators with 2 or higher degrees of freedom. The neural networks utilized are multi-layered perceptron (MLP) with a back-propagation training algorithm. This approach will reduce the complexity of the algorithm and calculation (matrix inversion) faced when using the Inverse Geometric Models implementation (IGM) in robotics. The obtained results are presented and analyzed in order to prove the efficiency of the proposed approach.展开更多
文摘One of the most important problems in robot kinematics and control is, finding the solution of Inverse Kinematics. Inverse kinematics computation has been one of the main problems in robotics research. As the Complexity of robot increases, obtaining the inverse kinematics is difficult and computationally expensive. Traditional methods such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. As alternative approaches, neural networks and optimal search methods have been widely used for inverse kinematics modeling and control in robotics This paper proposes neural network architecture that consists of 6 sub-neural networks to solve the inverse kinematics problem for robotics manipulators with 2 or higher degrees of freedom. The neural networks utilized are multi-layered perceptron (MLP) with a back-propagation training algorithm. This approach will reduce the complexity of the algorithm and calculation (matrix inversion) faced when using the Inverse Geometric Models implementation (IGM) in robotics. The obtained results are presented and analyzed in order to prove the efficiency of the proposed approach.
