Solving the inverse kinematic equations of elastic robot arm utilizing neural network
Other Title(s)
حل معكوس من المعادلة الكينماتيكية لرجل آلي ذي أذرع مرنة باستخدام الشبكات العصبية
Parallel Title
حل معكوس من المعادلة الكينماتيكية لرجل آلي ذي أذرع مرنة باستخدام الشبكات العصبية
Joint Authors
al-Khafaji, Husayn Muhammad Husayn
Jwij, Muhsin Jabr
Source
al-Khwarizmi Engineering Journal
Issue
Vol. 13, Issue 1 (31 Mar. 2017), pp.13-25, 13 p.
Publisher
University of Baghdad al-Khwarizmi College of Engineering
Publication Date
2017-03-31
Country of Publication
Iraq
No. of Pages
13
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
The inverse kinematic equation for a robot is very important to the control robot’s motion and position.
The solving of this equation is complex for the rigid robot due to the dependency of this equation on the joint configuration and structure of robot link.
In light robot arms where the flexibility exists, the solving of this problem is more complicated than the rigid link robot because the deformation variables (elongation and bending) are present in the forward kinematic equation.
The finding of an inverse kinematic equation needs to obtain the relation between the joint angles and both of the end-effector position and deformations variables.
In this work, a neural network has been proposed to solve the problem of inverse kinematic equation.
To feed the neural network, experimental data were taken from an elastic robot arm for training the network, these data presented by joint angles, deformation variables and end effector positions.
The results of network training showed a good fit between the output results of the neural network and the targets data.
In addition, this method for finding the inverse of kinematic equation proved its effectiveness and validation when applying the results of neural network practically in the robot’s operating software for controlling The real light robot’s position.
American Psychological Association (APA)
al-Khafaji, Husayn Muhammad Husayn& Jwij, Muhsin Jabr. 2017. Solving the inverse kinematic equations of elastic robot arm utilizing neural network. al-Khwarizmi Engineering Journal،Vol. 13, no. 1, pp.13-25.
https://search.emarefa.net/detail/BIM-733235
Modern Language Association (MLA)
al-Khafaji, Husayn Muhammad Husayn& Jwij, Muhsin Jabr. Solving the inverse kinematic equations of elastic robot arm utilizing neural network. al-Khwarizmi Engineering Journal Vol. 13, no. 1 (2017), pp.13-25.
https://search.emarefa.net/detail/BIM-733235
American Medical Association (AMA)
al-Khafaji, Husayn Muhammad Husayn& Jwij, Muhsin Jabr. Solving the inverse kinematic equations of elastic robot arm utilizing neural network. al-Khwarizmi Engineering Journal. 2017. Vol. 13, no. 1, pp.13-25.
https://search.emarefa.net/detail/BIM-733235
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 23-24
Record ID
BIM-733235