NDLI: A neural-network committee machine approach to the inverse kinematics problem solution of robotic manipulators

Content Provider	Springer Nature Link
Author	Köker, Raşit Çakar, Tarık Sari, Yavuz
Copyright Year	2013
Abstract	In robotics, inverse kinematics problem solution is a fundamental problem in robotics. Many traditional inverse kinematics problem solutions, such as the geometric, iterative, and algebraic approaches, are inadequate for redundant robots. Recently, much attention has been focused on a neural-network-based inverse kinematics problem solution in robotics. However, the result obtained from the neural network requires to be improved for some sensitive tasks. In this paper, a neural-network committee machine (NNCM) was designed to solve the inverse kinematics of a 6-DOF redundant robotic manipulator to improve the precision of the solution. Ten neural networks (NN) were designed to obtain a committee machine to solve the inverse kinematics problem using separately prepared data set since a neural network can give better result than other ones. The data sets for the neural-network training were prepared using prepared simulation software including robot kinematics model. The solution of each neural network was evaluated using direct kinematics equation of the robot to select the best one. As a result, the committee machine implementation increased the performance of the learning.
Starting Page	641
Ending Page	649
Page Count	9
File Format	PDF
ISSN	01770667
Journal	Engineering with Computers
Volume Number	30
Issue Number	4
e-ISSN	14355663
Language	English
Publisher	Springer London
Publisher Date	2013-02-01
Publisher Place	London
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Neural networks Committee machines Inverse kinematics solution Robotics Computer-Aided Engineering (CAD, CAE) and Design Math. Applications in Chemistry Systems Theory, Control Calculus of Variations and Optimal Control; Optimization Mechanics ApplicationMathematics/Computational Methods of Engineering
Content Type	Text
Resource Type	Article
Subject	Engineering Computer Science Applications Modeling and Simulation Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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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