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Investigating forward kinematic analysis of a 5-axes robotic manipulator using denavit-hartenberg method and artificial neural network
Other Title(s)
استقصاء التحليل الحركي الأمامي لإنسان آلي مناول ذو خمسة محاور باستخدام طريقة دينافيت هارتنبيرغ و الشبكة العصبية الصناعية
Joint Authors
Sharif, isra R.
Zayir, Iman A.
Abd al-Karim, Izzat A.
Source
Engineering and Technology Journal
Issue
Vol. 32, Issue 11A (30 Nov. 2014), pp.2700-2713, 14 p.
Publisher
Publication Date
2014-11-30
Country of Publication
Iraq
No. of Pages
14
Main Subjects
Topics
Abstract AR
إن تحلیل المعادلات الحركیة الأمامیة للإنسان الآلي ھو أسلوب أساسي و مھم لتحلیل موقع و اتجاه النھایة المؤثرة للإنسان الآلي المناول , حیث انھ في ھذه الدراسة تم استخدام ترمیز و طریقة دینافیت – ھارتنبیرغ لتمثیل العلاقات الحركیة النسبیة بین كل وصلتین متجاورتین للإنسان الآلي بدقة .
إلى جانب ذلك , تم الأخذ بأحد أنواع الشبكات العصبیة الصناعیة و التي تعرف بشبكة مجموعة المحاولات التعلیمیة المشرف علیھا , لحل مشكلة التحلیل الحركي لھذا الإنسان الآلي ألمختبري ذو الخمس درجات لحریة الحركة , و ظھر أن استخدام طریقة الذكاء الاصطناعي متمثلا
Abstract EN
Robot Forward kinematic equations' analysis is an essential and important manner to analysis the position and orientation of the end effectors of a robotic manipulator, where in this paper, Denavit-Hartenberg notation and method (D-H) is used to represent the relative kinematic relationships precisely between each two adjacent links of this robot , besides a kind of artificial neural network (ANN) which is known as the supervised learning training sets network is investigated to solve the problem of kinematic analysis of this laboratory five - axes robot, it shows that the using of the artificial intelligence method which is the neural networks had offered the facility of dealing with this non linear robotic system by a simple manner with acceptable faster solution as compared with the traditional forward kinematic equations analysis method .
American Psychological Association (APA)
Sharif, isra R.& Zayir, Iman A.& Abd al-Karim, Izzat A.. 2014. Investigating forward kinematic analysis of a 5-axes robotic manipulator using denavit-hartenberg method and artificial neural network. Engineering and Technology Journal،Vol. 32, no. 11A, pp.2700-2713.
https://search.emarefa.net/detail/BIM-516220
Modern Language Association (MLA)
Sharif, isra R.…[et al.]. Investigating forward kinematic analysis of a 5-axes robotic manipulator using denavit-hartenberg method and artificial neural network. Engineering and Technology Journal Vol. 32, no. 11A (2014), pp.2700-2713.
https://search.emarefa.net/detail/BIM-516220
American Medical Association (AMA)
Sharif, isra R.& Zayir, Iman A.& Abd al-Karim, Izzat A.. Investigating forward kinematic analysis of a 5-axes robotic manipulator using denavit-hartenberg method and artificial neural network. Engineering and Technology Journal. 2014. Vol. 32, no. 11A, pp.2700-2713.
https://search.emarefa.net/detail/BIM-516220
Data Type
Journal Articles
Language
English
Notes
Text in English ; abstracts in English and Arabic.
Record ID
BIM-516220