Performance Prediction Network for Serial Manipulators Inverse Kinematics solution Passing Through Singular Configurations

This paper is devoted to the application of Artificial Neural Networks (ANN) to the solution of the Inverse Kinematics (IK) problem for serial robot manipulators, in this study two networks were trained and compared to examine the effect of considering the Jacobian Matrix to the efficiency of the IK...

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Principais autores:	Ali T. Hasan, H.M.A.A. Al-Assadi
Formato:	Artigo
Idioma:	Inglês
Publicado em:	SAGE Publishing 2011-01-01
coleção:	International Journal of Advanced Robotic Systems
Assuntos:	neural networks inverse kinematics Jacobian matrix singularities back propagation robot control
Acesso em linha:	http://www.intechopen.com/articles/show/title/performance-prediction-network-for-serial-manipulators-inverse-kinematics-solution-passing-through-s
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