NDLI: RBF networks-based inverse kinematics of 6R manipulator

Content Provider	Springer Nature Link
Author	Zhang, Pei Yan Lü, Tian Sheng Song, Li Bo
Copyright Year	2004
Abstract	From the point of view of set theory and mathematics, the relation between the forward kinematics (FK) and the inverse kinematics (IK) can be regarded as a nonlinear mapping between the joint space and the operation space of the robot manipulator. Considering the powerful ability of the artificial neural networks (ANN) to process nonlinear mapping relations, the IK problem can be transformed into the problem of training the weights of ANN. In this work, the solution of the IK of the MOTOMAN manipulator is implemented by using ANN. Because of its local approach ability, the radial basis function (RBF) networks of six inputs and one output are designed. The method avoids the traditional complicated deriving equations procedure and programming. Examples are given to illustrate that RBF networks not only have better computation precision than back propagation (BP) networks but also converge faster than BP networks.
Starting Page	144
Ending Page	147
Page Count	4
File Format	PDF
ISSN	02683768
Journal	The International Journal of Advanced Manufacturing Technology
Volume Number	26
Issue Number	1-2
e-ISSN	14333015
Language	English
Publisher	Springer-Verlag
Publisher Date	2004-04-07
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	BP networks Inverse kinematics MOTOMAN manipulator RBF networks Computer-Aided Engineering (CAD, CAE) and Design Mechanical Engineering Industrial and Production Engineering Production/Logistics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Control and Systems Engineering Mechanical Engineering Computer Science Applications Software

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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
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