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Solution for Ill-Posed Inverse Kinematics of Robot Arm by Network Inversion
Joint Authors
Source
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-08-19
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
In the context of controlling a robot arm with multiple joints, the method of estimating the joint angles from the given end-effector coordinates is called inverse kinematics, which is a type of inverse problems.
Network inversion has been proposed as a method for solving inverse problems by using a multilayer neural network.
In this paper, network inversion is introduced as a method to solve the inverse kinematics problem of a robot arm with multiple joints, where the joint angles are estimated from the given end-effector coordinates.
In general, inverse problems are affected by ill-posedness, which implies that the existence, uniqueness, and stability of their solutions are not guaranteed.
In this paper, we show the effectiveness of applying network inversion with regularization, by which ill-posedness can be reduced, to the ill-posed inverse kinematics of an actual robot arm with multiple joints.
American Psychological Association (APA)
Ogawa, Takehiko& Kanada, Hajime. 2010. Solution for Ill-Posed Inverse Kinematics of Robot Arm by Network Inversion. Journal of Robotics،Vol. 2010, no. 2010, pp.1-9.
https://search.emarefa.net/detail/BIM-504964
Modern Language Association (MLA)
Ogawa, Takehiko& Kanada, Hajime. Solution for Ill-Posed Inverse Kinematics of Robot Arm by Network Inversion. Journal of Robotics No. 2010 (2010), pp.1-9.
https://search.emarefa.net/detail/BIM-504964
American Medical Association (AMA)
Ogawa, Takehiko& Kanada, Hajime. Solution for Ill-Posed Inverse Kinematics of Robot Arm by Network Inversion. Journal of Robotics. 2010. Vol. 2010, no. 2010, pp.1-9.
https://search.emarefa.net/detail/BIM-504964
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-504964