The Inverse Solution Of Dexterous Robot By Using Neural Networks

The inverse kinematics of redundant manipulators has infinite solutions by using conventional methods, so that, this work presents applicability of intelligent tool (artificial neural network ANN) for finding one desired solution from these solutions. The inverse analysis and trajectory planning of...

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Auteurs principaux:	Bahaa Ibraheem Kazem, Samer Yahya Hadi
Format:	article
Langue:	EN
Publié:	Al-Khwarizmi College of Engineering – University of Baghdad 2007
Sujets:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Accès en ligne:	https://doaj.org/article/b681b6fb9bb44b9fb9cb5f6b89b459d8
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id	oai:doaj.org-article:b681b6fb9bb44b9fb9cb5f6b89b459d8
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spelling	oai:doaj.org-article:b681b6fb9bb44b9fb9cb5f6b89b459d82021-12-02T06:05:33ZThe Inverse Solution Of Dexterous Robot By Using Neural Networks1818-11712312-0789https://doaj.org/article/b681b6fb9bb44b9fb9cb5f6b89b459d82007-03-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/616https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 The inverse kinematics of redundant manipulators has infinite solutions by using conventional methods, so that, this work presents applicability of intelligent tool (artificial neural network ANN) for finding one desired solution from these solutions. The inverse analysis and trajectory planning of a three link redundant planar robot have been studied in this work using a proposed dual neural networks model (DNNM), which shows a predictable time decreasing in the training session. The effect of the number of the training sets on the DNNM output and the number of NN layers have been studied. Several trajectories have been implemented using point to point trajectory planning algorithm with DNNM and the result shows good accuracy of the end effector position for the desired trajectory. Bahaa Ibraheem KazemSamer Yahya HadiAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 3, Iss 1 (2007)
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 Bahaa Ibraheem Kazem Samer Yahya Hadi The Inverse Solution Of Dexterous Robot By Using Neural Networks
description	The inverse kinematics of redundant manipulators has infinite solutions by using conventional methods, so that, this work presents applicability of intelligent tool (artificial neural network ANN) for finding one desired solution from these solutions. The inverse analysis and trajectory planning of a three link redundant planar robot have been studied in this work using a proposed dual neural networks model (DNNM), which shows a predictable time decreasing in the training session. The effect of the number of the training sets on the DNNM output and the number of NN layers have been studied. Several trajectories have been implemented using point to point trajectory planning algorithm with DNNM and the result shows good accuracy of the end effector position for the desired trajectory.
format	article
author	Bahaa Ibraheem Kazem Samer Yahya Hadi
author_facet	Bahaa Ibraheem Kazem Samer Yahya Hadi
author_sort	Bahaa Ibraheem Kazem
title	The Inverse Solution Of Dexterous Robot By Using Neural Networks
title_short	The Inverse Solution Of Dexterous Robot By Using Neural Networks
title_full	The Inverse Solution Of Dexterous Robot By Using Neural Networks
title_fullStr	The Inverse Solution Of Dexterous Robot By Using Neural Networks
title_full_unstemmed	The Inverse Solution Of Dexterous Robot By Using Neural Networks
title_sort	inverse solution of dexterous robot by using neural networks
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2007
url	https://doaj.org/article/b681b6fb9bb44b9fb9cb5f6b89b459d8
work_keys_str_mv	AT bahaaibraheemkazem theinversesolutionofdexterousrobotbyusingneuralnetworks AT sameryahyahadi theinversesolutionofdexterousrobotbyusingneuralnetworks AT bahaaibraheemkazem inversesolutionofdexterousrobotbyusingneuralnetworks AT sameryahyahadi inversesolutionofdexterousrobotbyusingneuralnetworks
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The Inverse Solution Of Dexterous Robot By Using Neural Networks

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