A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242).

ABSTRACT: This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in r

SUBMITTER: Almusawi AR 

PROVIDER: S-EPMC5005769 | biostudies-literature | 2016

REPOSITORIES: biostudies-literature