Neural network based inverse kinematics solution for trajectory tracking of a robotic arm

被引：89
|
作者：
Duka, Adrian-Vasile [1 ]
机构：
[1] Petru Maior Univ Tg Mures, Targu Mures 540088, Romania
来源：
7TH INTERNATIONAL CONFERENCE INTERDISCIPLINARITY IN ENGINEERING (INTER-ENG 2013) | 2014年 / 12卷
关键词：
robotic arm; planar manipulator; inverse kinematics; trajectory; neural networks;
D O I：
10.1016/j.protcy.2013.12.451
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Planar two and three-link manipulators are often used in Robotics as testbeds for various algorithms or theories. In this paper, the case of a three-link planar manipulator is considered. For this type of robot a solution to the inverse kinematics problem, needed for generating desired trajectories in the Cartesian space (2D) is found by using a feed-forward neural network. (C) 2013 The Authors. Published by Elsevier Ltd.
引用
收藏
页码：20 / 27
页数：8
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