Abstract
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.
References
[2] Mark W. Spong and M. Vidyasagar, "Robot Dynamic and Control", John Wiley and Sons, Inc., 1989.
[3] Alain Liegeois "Robot Technology: Performance and computer-Aided Design", Volume 7, Prentice-Hall, 1985 .
[4] Jacobsen, S.C., Iversen, E.K., Knutti, D.F., Johnson, R.T., and Biggers, K.B., "Design of the Utah/MIT Dexterous Hand," in Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, pp. 1520-1532, April 7-10, 1986.
[5] E. S. Conkur "Real Time Path Planning and Obstacle Avoidance Algorithms for Redundant Manipulators", Ph.D. Thesis, Department of Mechanical Engineering, University of Bristol, September 1997.
[6] Chetan Kapoor and Delbert Tesar "Kinematics Abstraction for General Manipulator Control", Robotics Research Group, The University of Texas at Austin, JJPRC/MERB 1.206, mail Code R9925, Austin, Texas 78712-1100, 1990.
[7] Farshid Magami Asi "Analysis of Hyper Redundant Manipulators", M.Sc. Thesis, Mechanical Engineering Department, Villanova University, August 1998.
[8] J.Somlo, A.Sokolov, V.Lukanyin "Intelligent Robot Control. The Automation Trajectory Planning", Department of Manufacturing Engineering, Budabist, University of Technology and Economics, 2002.
[9] Shigang Yue and Dominik Henrich "Point-to-Point Trajectory Planning of Flexible Redundant Robot Manipulators Using Genetic Algorithms", Embedded Systems and Robotics (RESY), Informatics Faculty, University of Kaiserslautern, D-67653 Kaiserslautern, Germany, 2001.
[10] Javier de Lope, Telmo Zarraonandia, Rafaela Gonzalez-Careaga, and Dario Maravall "Solving the Inverse Kinematics in Humanoid Robots: A Neural Approach", Department of artificial Intelligence, Faculty of Computer Science, University of Politecnica de Madrid, Campus de Montegancedo, 28660 Madrid, Spain, 2004.
[11] Jack M. Zurada "Introduction to Artificial Neural systems", Jaico Publishing house, 1996.
Copyright: Open Access authors retain the copyrights of their papers, and all open access articles are distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution and reproduction in any medium, provided that the original work is properly cited. The use of general descriptive names, trade names, trademarks, and so forth in this publication, even if not specifically identified, does not imply that these names are not protected by the relevant laws and regulations. While the advice and information in this journal are believed to be true and accurate on the date of its going to press, neither the authors, the editors, nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein.