The Computation of the Inverse Kinematics of a 3 DOF Redundant Manipulator via an ANN Approach and a Virtual Function
Shahnaz Habibkhah, Rene Mayorga
2020
Abstract
In this paper a method based on Artificial Neural Networks (ANNs) is presented to solve the Inverse Kinematics (IK) of 3 degrees of freedom (DOF) redundant manipulators. In order to obtain the manipulator’s joint angles coordinates and solve the IK problem with acceptable accuracy; the forward kinematics equations of the manipulator are used to obtain position of the end effector, and also a virtual auxiliary function is included in the ANN approach. Then, the trained ANN’ ability to track a designed target trajectory is tested inside the workspace of the manipulator in two scenarios with different inputs data to the ANN.
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in Harvard Style
Habibkhah S. and Mayorga R. (2020). The Computation of the Inverse Kinematics of a 3 DOF Redundant Manipulator via an ANN Approach and a Virtual Function.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 471-477. DOI: 10.5220/0009834904710477
in Bibtex Style
@conference{icinco20,
author={Shahnaz Habibkhah and Rene Mayorga},
title={The Computation of the Inverse Kinematics of a 3 DOF Redundant Manipulator via an ANN Approach and a Virtual Function},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={471-477},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009834904710477},
isbn={978-989-758-442-8},
}
in EndNote Style
TY - CONF
JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - The Computation of the Inverse Kinematics of a 3 DOF Redundant Manipulator via an ANN Approach and a Virtual Function
SN - 978-989-758-442-8
AU - Habibkhah S.
AU - Mayorga R.
PY - 2020
SP - 471
EP - 477
DO - 10.5220/0009834904710477