NDLI: Learning the inverse kinematics of a robot manipulator using the Bees Algorithm

Content Provider	IEEE Xplore Digital Library
Author	Pham, D.T. Castellani, M. Fahmy, A.A.
Copyright Year	2008
Description	Author affiliation: Manuf. Eng. Centre, Cardiff Univ., Cardiff (Pham, D.T.; Castellani, M.; Fahmy, A.A.)
Abstract	In this paper, the Bees algorithm was used to train multi-layer perceptron neural networks to model the inverse kinematics of an articulated robot manipulator arm. The Bees Algorithm is a recently developed parameter optimisation algorithm that is inspired by the foraging behaviour of honey bees. The Bees Algorithm performs a kind of exploitative neighbourhood search combined with random explorative search. Three neural networks were trained to reproduce a set of input/output numerical examples of the inverse kinematics of the main three joints of an articulated robotic manipulator. The results prove the remarkable robustness of the Bees Algorithm, which consistently trained the neural networks to model the kinematics data with very high accuracy. The learning results obtained by the proposed algorithm are compared to the results obtained by the standard Backpropagation Algorithm and an Evolutionary Algorithm. The comparative study highlights the superior performance of the proposed Bees Algorithm over the other algorithms.
Starting Page	493
Ending Page	498
File Size	291342
Page Count	6
File Format	PDF
ISBN	9781424421701
ISSN	19354576
DOI	10.1109/INDIN.2008.4618151
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-13
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Training Kinematics Artificial neural networks Manipulators Prediction algorithms Joints Robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in