NDLI: Neural Network Based Inverse Kinematic Solution of a 5 DOF Manipulator for Industrial Application

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Neural Network Based Inverse Kinematic Solution of a 5 DOF Manipulator for Industrial Application

Content Provider	Scilit
Author	Aravinddhakshan, S. Apte, Sudhanv Akash, S. M.
Copyright Year	2021
Description	Journal: Journal of Physics: Conference Series This paper showcases the application of Neural Networks for manipulation. Algorithm based approaches work well although are limited in their ability to find solutions sometimes. The tedious task of programming a manipulator can be replaced with Neural Networks which can learn how to solve Inverse Kinematics. We present a pick and place scenario using Neural Network to solve Inverse Kinematics. Their ability to learn from examples make them a good candidate to solve the inverse kinematics problem. For this purpose, a unique configuration of 5 DOF arm is designed to suit industrial needs. To train the network, a dataset of random joint positions is created and forward kinematics is derived for the corresponding joint angles. The joint variables are then fed to a path planner in Simulink and then the process is simulated.
Related Links	https://iopscience.iop.org/article/10.1088/1742-6596/1969/1/012010/pdf
ISSN	17426588
e-ISSN	17426596
DOI	10.1088/1742-6596/1969/1/012010
Journal	Journal of Physics: Conference Series
Issue Number	1
Volume Number	1969
Language	English
Publisher	IOP Publishing
Publisher Date	2021-07-01
Access Restriction	Open
Subject Keyword	Journal: Journal of Physics: Conference Series Inverse Kinematics Solve Inverse
Content Type	Text
Resource Type	Article
Subject	Physics and Astronomy

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