loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock
The Computation of the Inverse Kinematics of a 3 DOF Redundant Manipulator via an ANN Approach and a Virtual Function

Topics: Control and Supervision Systems; Industrial Automation and Robotics; Mechatronics Systems; Neural Networks Based Control Systems; Robot Design, Development and Control; System Modeling; Systems Modeling and Simulation; Systems Modeling and Simulation

Authors: Shahnaz Habibkhah and Rene V. Mayorga

Affiliation: Department of Industrial Systems Engineering, University of Regina, Regina, SK, Canada

Keyword(s): Artificial Neural Network, Redundant Robotic Manipulators, Inverse Kinematics.

Abstract: In this paper a method based on Artificial Neural Networks (ANNs) is presented to solve the Inverse Kinematics (IK) of 3 degrees of freedom (DOF) redundant manipulators. In order to obtain the manipulator’s joint angles coordinates and solve the IK problem with acceptable accuracy; the forward kinematics equations of the manipulator are used to obtain position of the end effector, and also a virtual auxiliary function is included in the ANN approach. Then, the trained ANN’ ability to track a designed target trajectory is tested inside the workspace of the manipulator in two scenarios with different inputs data to the ANN.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.17.150.163

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Habibkhah, S. and Mayorga, R. (2020). The Computation of the Inverse Kinematics of a 3 DOF Redundant Manipulator via an ANN Approach and a Virtual Function. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 471-477. DOI: 10.5220/0009834904710477

@conference{icinco20,
author={Shahnaz Habibkhah. and Rene V. Mayorga.},
title={The Computation of the Inverse Kinematics of a 3 DOF Redundant Manipulator via an ANN Approach and a Virtual Function},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={471-477},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009834904710477},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - The Computation of the Inverse Kinematics of a 3 DOF Redundant Manipulator via an ANN Approach and a Virtual Function
SN - 978-989-758-442-8
IS - 2184-2809
AU - Habibkhah, S.
AU - Mayorga, R.
PY - 2020
SP - 471
EP - 477
DO - 10.5220/0009834904710477
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic