Solving the Inverse Kinematic Equations of Elastic Robot Arm Utilizing Neural Network
The inverse kinematic equation for a robot is very important to the control robot’s motion and position. The solving of this equation is complex for the rigid robot due to the dependency of this equation on the joint configuration and structure of robot link. In light robot arms, where the flexibil...
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Al-Khwarizmi College of Engineering – University of Baghdad
2017
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oai:doaj.org-article:af07ed821dca42dbbdf2b172d2918cf92021-12-02T04:44:59ZSolving the Inverse Kinematic Equations of Elastic Robot Arm Utilizing Neural Network10.22153/kej.2017.11.0021818-11712312-0789https://doaj.org/article/af07ed821dca42dbbdf2b172d2918cf92017-12-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/330https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 The inverse kinematic equation for a robot is very important to the control robot’s motion and position. The solving of this equation is complex for the rigid robot due to the dependency of this equation on the joint configuration and structure of robot link. In light robot arms, where the flexibility exists, the solving of this problem is more complicated than the rigid link robot because the deformation variables (elongation and bending) are present in the forward kinematic equation. The finding of an inverse kinematic equation needs to obtain the relation between the joint angles and both of the end-effector position and deformations variables. In this work, a neural network has been proposed to solve the problem of inverse kinematic equation. To feed the neural network, experimental data were taken from an elastic robot arm for training the network, these data presented by joint angles, deformation variables and end-effector positions. The results of network training showed a good fit between the output results of the neural network and the targets data. In addition, this method for finding the inverse of kinematic equation proved its effectiveness and validation when applying the results of neural network practically in the robot’s operating software for controlling the real light robot’s position. Hussein M. Al-KhafajiMuhsin J. JweegAl-Khwarizmi College of Engineering – University of BaghdadarticleElastic robotforward and inverse kinematic equation of elastic robotNeural networksChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 13, Iss 1 (2017) |
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Elastic robot forward and inverse kinematic equation of elastic robot Neural networks Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 |
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Elastic robot forward and inverse kinematic equation of elastic robot Neural networks Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Hussein M. Al-Khafaji Muhsin J. Jweeg Solving the Inverse Kinematic Equations of Elastic Robot Arm Utilizing Neural Network |
description |
The inverse kinematic equation for a robot is very important to the control robot’s motion and position. The solving of this equation is complex for the rigid robot due to the dependency of this equation on the joint configuration and structure of robot link. In light robot arms, where the flexibility exists, the solving of this problem is more complicated than the rigid link robot because the deformation variables (elongation and bending) are present in the forward kinematic equation. The finding of an inverse kinematic equation needs to obtain the relation between the joint angles and both of the end-effector position and deformations variables. In this work, a neural network has been proposed to solve the problem of inverse kinematic equation. To feed the neural network, experimental data were taken from an elastic robot arm for training the network, these data presented by joint angles, deformation variables and end-effector positions. The results of network training showed a good fit between the output results of the neural network and the targets data. In addition, this method for finding the inverse of kinematic equation proved its effectiveness and validation when applying the results of neural network practically in the robot’s operating software for controlling the real light robot’s position.
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format |
article |
author |
Hussein M. Al-Khafaji Muhsin J. Jweeg |
author_facet |
Hussein M. Al-Khafaji Muhsin J. Jweeg |
author_sort |
Hussein M. Al-Khafaji |
title |
Solving the Inverse Kinematic Equations of Elastic Robot Arm Utilizing Neural Network |
title_short |
Solving the Inverse Kinematic Equations of Elastic Robot Arm Utilizing Neural Network |
title_full |
Solving the Inverse Kinematic Equations of Elastic Robot Arm Utilizing Neural Network |
title_fullStr |
Solving the Inverse Kinematic Equations of Elastic Robot Arm Utilizing Neural Network |
title_full_unstemmed |
Solving the Inverse Kinematic Equations of Elastic Robot Arm Utilizing Neural Network |
title_sort |
solving the inverse kinematic equations of elastic robot arm utilizing neural network |
publisher |
Al-Khwarizmi College of Engineering – University of Baghdad |
publishDate |
2017 |
url |
https://doaj.org/article/af07ed821dca42dbbdf2b172d2918cf9 |
work_keys_str_mv |
AT husseinmalkhafaji solvingtheinversekinematicequationsofelasticrobotarmutilizingneuralnetwork AT muhsinjjweeg solvingtheinversekinematicequationsofelasticrobotarmutilizingneuralnetwork |
_version_ |
1718401097180119040 |