Location detection by a robot-arm

Abstract EN

The area of inverse kinematics of robots, mainly manipulators, has been widely approached, and several solutions have been found.

The solutions provided by analytical methods are specific to particular robot configurations and are not applicable to other robots.

Apart from this drawback, robot's arms are inherently redundant because they need to have real humanoid configurations.

This degree of redundancy makes the development of an analytical solution for the inverse kinematics practically unapproachable.

For this reason, an artificial neural network using Back-Propagation algorithm is applied solve the inverse and forward kinematics problems of the articulated chain that represents the robot’s arm.