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Optimal Model Parameters of Inverse Kinematics Solution of a 3R Robotic Manipulator Using ANN Models

Optimal Model Parameters of Inverse Kinematics Solution of a 3R Robotic Manipulator Using ANN Models

Nikolaos E. Karkalos, Angelos P. Markopoulos, Michael F. Dossis
Copyright: © 2017 |Volume: 7 |Issue: 3 |Pages: 21
ISSN: 2156-1680|EISSN: 2156-1672|EISBN13: 9781522514558|DOI: 10.4018/IJMMME.2017070102
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MLA

Karkalos, Nikolaos E., et al. "Optimal Model Parameters of Inverse Kinematics Solution of a 3R Robotic Manipulator Using ANN Models." IJMMME vol.7, no.3 2017: pp.20-40. http://doi.org/10.4018/IJMMME.2017070102

APA

Karkalos, N. E., Markopoulos, A. P., & Dossis, M. F. (2017). Optimal Model Parameters of Inverse Kinematics Solution of a 3R Robotic Manipulator Using ANN Models. International Journal of Manufacturing, Materials, and Mechanical Engineering (IJMMME), 7(3), 20-40. http://doi.org/10.4018/IJMMME.2017070102

Chicago

Karkalos, Nikolaos E., Angelos P. Markopoulos, and Michael F. Dossis. "Optimal Model Parameters of Inverse Kinematics Solution of a 3R Robotic Manipulator Using ANN Models," International Journal of Manufacturing, Materials, and Mechanical Engineering (IJMMME) 7, no.3: 20-40. http://doi.org/10.4018/IJMMME.2017070102

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Abstract

Solution of inverse kinematics equations of robotic manipulators constitutes usually a demanding problem, which is also required to be resolved in a time-efficient way to be appropriate for actual industrial applications. During the last few decades, soft computing models such as Artificial Neural Networks (ANN) models were employed for the inverse kinematics problem and are considered nowadays as a viable alternative method to other analytical and numerical methods. In the current paper, the solution of inverse kinematics equations of a planar 3R robotic manipulator using ANN models is presented, an investigation concerning optimum values of ANN model parameters, namely input data sample size, network architecture and training algorithm is conducted and conclusions concerning models performance in these cases are drawn.

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