Name
Title | ||
|---|---|---|
Comparison of RBF and MLP neural networks to solve inverse kinematic problem for 6R serial robot by a fusion approach |
Abstract | ||
|---|---|---|
In this paper, a fusion approach to determine inverse kinematics solutions of a six degree of freedom serial robot is proposed. The proposed approach makes use of radial basis function neural network for prediction of incremental joint angles which in turn are transformed into absolute joint angles with the assistance of forward kinematics relations. In this approach, forward kinematics relations of robot are used to obtain the data for training of neural network as well to estimate the deviation of predicted inverse kinematics solution from the desired solution. The effectiveness of the fusion process is shown by comparing the inverse kinematics solutions obtained for an end-effector of industrial robot moving along a specified path with the solutions obtained from conventional neural network approaches as well as iterative technique. The prominent features of the fusion process include the accurate prediction of inverse kinematics solutions with less computational time apart from the generation of training data for neural network with forward kinematics relations of the robot. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1016/j.engappai.2010.01.028 | Eng. Appl. of AI |
Keywords | Field | DocType |
freedom serial robot,industrial robot,mlp neural network,conventional neural network,neural network,kinematics relation,radial basis function neural,inverse kinematics solution,inverse kinematic problem,fusion approach,fusion process,neural networks,inverse kinematics,degree of freedom,radial basis function,multi layer perceptron | Kinematics,Radial basis function,Inverse kinematics,Computer science,Probabilistic neural network,Forward kinematics,Industrial robot,Time delay neural network,Artificial intelligence,Artificial neural network,Machine learning | Journal |
Volume | Issue | ISSN |
23 | 7 | Engineering Applications of Artificial Intelligence |
Citations | PageRank | References |
27 | 1.28 | 10 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shital S. Chiddarwar | 1 | 57 | 8.91 |
| N. Ramesh Babu | 2 | 80 | 6.84 |