NDLI: Neural network for the forward kinematics problem in parallel manipulator

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IJCNN-91-Seattle International Joint Conference on Neural Networks

1990 IJCNN International Joint Conference on Neural Networks

International 1989 Joint Conference on Neural Networks

Neural network for the forward kinematics problem in parallel manipulator

Content Provider	IEEE Xplore Digital Library
Author	Yee, C.-S. Lim, K.-B.
Copyright Year	1991
Description	Author affiliation: Dept. of Mech. & Production Eng., Nat. of Singapore, Singapore (Yee, C.-S.; Lim, K.-B.)
Abstract	The parallel manipulator's unique structure presents an interesting problem in its forward kinematics solution, which involves the solving of a series of simultaneous nonlinear equations. The ability of a neural network to recognize the relationship between the input values and the output values of a system without fully understanding the system was fully exploited in this case. With the simple inverse kinematics solution of the manipulator, a neural network was trained to solve the forward kinematics of the parallel manipulator quite accurately. By adjusting the offset of the result obtained, the neural network is able to achieve an accuracy of 0.1 mm and 0.5 degrees for the six output values.
Starting Page	1699
Ending Page	1704
File Size	234988
Page Count	6
File Format	PDF
ISBN	0780302273
DOI	10.1109/IJCNN.1991.170665
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1991-11-18
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Neural networks Kinematics Intelligent networks End effectors Feedforward neural networks Manipulators Bismuth Production engineering Nonlinear equations Aircraft
Content Type	Text
Resource Type	Article

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