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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Autores principales:	Samer Yahya Hadi, Bahaa Ibraheem Kazem
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2007
Materias:	inverse kinematics robotics neural network Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/ead06f8ee78240aaa229db9d814090d9
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spelling	oai:doaj.org-article:ead06f8ee78240aaa229db9d814090d92021-12-02T07:35:48ZThe Inverse Solution Of Dexterous Robot By Using Neural Networks1818-1171https://doaj.org/article/ead06f8ee78240aaa229db9d814090d92007-01-01T00:00:00Zhttp://www.iasj.net/iasj?func=fulltext&aId=24860https://doaj.org/toc/1818-1171The 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. Samer Yahya HadiBahaa Ibraheem KazemAl-Khwarizmi College of Engineering – University of Baghdadarticleinverse kinematicsroboticsneural networkChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 3, Iss 1, Pp 1-11 (2007)
institution	DOAJ
collection	DOAJ
language	EN
topic	inverse kinematics robotics neural network Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	inverse kinematics robotics neural network Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Samer Yahya Hadi Bahaa Ibraheem Kazem 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	Samer Yahya Hadi Bahaa Ibraheem Kazem
author_facet	Samer Yahya Hadi Bahaa Ibraheem Kazem
author_sort	Samer Yahya Hadi
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/ead06f8ee78240aaa229db9d814090d9
work_keys_str_mv	AT sameryahyahadi theinversesolutionofdexterousrobotbyusingneuralnetworks AT bahaaibraheemkazem theinversesolutionofdexterousrobotbyusingneuralnetworks AT sameryahyahadi inversesolutionofdexterousrobotbyusingneuralnetworks AT bahaaibraheemkazem inversesolutionofdexterousrobotbyusingneuralnetworks
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The Inverse Solution Of Dexterous Robot By Using Neural Networks

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