Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN

A demonstration of the inverse kinematics is a very complex problem for redundant robot manipulator. This paper presents the solution of inverse kinematics for one of redundant robots manipulator (three link robot) by combing of two intelligent algorithms GA (Genetic Algorithm) and NN (Neural Netwo...

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Autor principal:	Hind Z. Khaleel
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2018
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/4c964dc134bb4910a24531ee6b6ee5a9
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spelling	oai:doaj.org-article:4c964dc134bb4910a24531ee6b6ee5a92021-12-02T04:44:59ZInverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN10.22153/kej.2018.10.0081818-11712312-0789https://doaj.org/article/4c964dc134bb4910a24531ee6b6ee5a92018-04-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/122https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 A demonstration of the inverse kinematics is a very complex problem for redundant robot manipulator. This paper presents the solution of inverse kinematics for one of redundant robots manipulator (three link robot) by combing of two intelligent algorithms GA (Genetic Algorithm) and NN (Neural Network). The inputs are position and orientation of three link robot. These inputs are entering to Back Propagation Neural Network (BPNN). The weights of BPNN are optimized using continuous GA. The (Mean Square Error) MSE is also computed between the estimated and desired outputs of joint angles. In this paper, the fitness function in GA is proposed. The sinwave and circular for three link robot end effecter and desired trajectories are simulated by MATLAB program. Joint angles and end effecter positions of robot results values of circular trajectory are better than joint angles end effecter positions of robot results values of NN work in another paper. Three link redundant robot workspace is also simulated. The outputs results of best three joint angles are evaluated for two trajectories sinwave and circular, with 50 generations the algorithm is fast. This paper presents the simulations results that are obtained based on MATLAB R2010b program. Hind Z. KhaleelAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 14, Iss 1 (2018)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Hind Z. Khaleel Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN
description	A demonstration of the inverse kinematics is a very complex problem for redundant robot manipulator. This paper presents the solution of inverse kinematics for one of redundant robots manipulator (three link robot) by combing of two intelligent algorithms GA (Genetic Algorithm) and NN (Neural Network). The inputs are position and orientation of three link robot. These inputs are entering to Back Propagation Neural Network (BPNN). The weights of BPNN are optimized using continuous GA. The (Mean Square Error) MSE is also computed between the estimated and desired outputs of joint angles. In this paper, the fitness function in GA is proposed. The sinwave and circular for three link robot end effecter and desired trajectories are simulated by MATLAB program. Joint angles and end effecter positions of robot results values of circular trajectory are better than joint angles end effecter positions of robot results values of NN work in another paper. Three link redundant robot workspace is also simulated. The outputs results of best three joint angles are evaluated for two trajectories sinwave and circular, with 50 generations the algorithm is fast. This paper presents the simulations results that are obtained based on MATLAB R2010b program.
format	article
author	Hind Z. Khaleel
author_facet	Hind Z. Khaleel
author_sort	Hind Z. Khaleel
title	Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN
title_short	Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN
title_full	Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN
title_fullStr	Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN
title_full_unstemmed	Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN
title_sort	inverse kinematics solution for redundant robot manipulator using combination of ga and nn
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2018
url	https://doaj.org/article/4c964dc134bb4910a24531ee6b6ee5a9
work_keys_str_mv	AT hindzkhaleel inversekinematicssolutionforredundantrobotmanipulatorusingcombinationofgaandnn
_version_	1718401082150879232

Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN

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