Approximation of Inverse Kinematic Solution of a Metamorphic 3R Manipulator with Multilayer Perceptron

被引：0

作者：

Tzivaridis, Markos ^{[1
]}

Moulianitis, Vassilis C. ^{[1
,2
]}

Aspragathos, Nikos A. ^{[1
]}

机构：

[1] Univ Patras, Mech Engn & Aeronaut Dept, Patras 26500, Greece

[2] Univ Aegean, Dept Prod & Syst Design Engn, Syros 84100, Greece

来源：

ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS | 2020年 / 980卷

关键词：

Metamorphic manipulator; Inverse kinematics; MLP;

D O I：

10.1007/978-3-030-19648-6_6

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, a feedforward neural network is trained towards the generalisation of the inverse kinematics of a 3R metamorhic manipulator with one pseudojoint. A two hidden-layered network is trained with data produced by several anatomies of the metamorphic manipulator and tested to an unforeseen anatomy. The data are separated to aspects per anatomy and combined to one training set. Various configurations of the network is trained using the Levenberg-Marquardt backpropagation method and the best of them is derived. As it will be shown the derived network can achieve very low generalisation errors.

引用

页码：43 / 50

页数：8

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