Performance Prediction Network for Serial Manipulators Inverse Kinematics solution Passing Through Singular Configurations

Performance Prediction Network for Serial Manipulators Inverse Kinematics solution Passing Through Singular Configurations

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This paper is devoted to the application of Artificial Neural Networks (ANN) to the solution of the Inverse Kinematics (IK) problem for serial robot manipulators, in this study two networks were trained and compared to examine the effect of considering the Jacobian Matrix to the efficiency of the IK...

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Bibliographic Details
Main Authors: Ali T. Hasan, H.M.A.A. Al-Assadi
Format: Article
Language:English
Published: SAGE Publishing 2011-01-01
Series:International Journal of Advanced Robotic Systems
Subjects:
neural networks
inverse kinematics
Jacobian matrix
singularities
back propagation
robot control
Online Access:http://www.intechopen.com/articles/show/title/performance-prediction-network-for-serial-manipulators-inverse-kinematics-solution-passing-through-s

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http://www.intechopen.com/articles/show/title/performance-prediction-network-for-serial-manipulators-inverse-kinematics-solution-passing-through-s

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