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Finding the inverse kinematics of manipulator arm using artificial neural network with lookup table

Published online by Cambridge University Press:  01 November 1997

A.S. Morris  and
A. Mansor
A.S. Morris
Affiliation:
Department of Automatic Control & Systems Engineering, University of Sheffield, Mappin St., Sheffield S1 3JD, UK
A. Mansor
Affiliation:
Department of Automatic Control & Systems Engineering, University of Sheffield, Mappin St., Sheffield S1 3JD, UK
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Abstract

Neural networks were used to find the inverse kinematics of a two-link planar and three-link manipulator arms. The neural networks utilised were multi-layered perceptions with a back-propagation training algorithm. Because of the redundancy in the manipulators studied, this work used lookup tables for the different configurations of the manipulator arm.

Keywords

Manipulator armInverse kinematicsNeural networkRedundancyLookup table
Type
Research Article
Information
Robotica , Volume 15 , Issue 6 , November 1997 , pp. 617 - 625
Copyright
© 1997 Cambridge University Press

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