Solving continuous trajectory and forward kinematics simultaneously based on ANN
Ang, Chun Kit and Tang, Sai Hong and Mashohor, Syamsiah and Mohd Ariffin, Mohd Khairol Anuar (2014) Solving continuous trajectory and forward kinematics simultaneously based on ANN. International Journal of Computers Communications & Control, 9 (3). pp. 253-260. ISSN 1841-9836
Official URL: http://univagora.ro/jour/index.php/ijccc/article/v...
Robot movement can be predicted by incorporating Forward Kinematics (FK) and trajectory planning techniques. However, the calculations will become complicated and hard to be solved if the number of specific via points is increased. Thus, back-propagation artificial neural network is proposed in this paper to overcome this drawback due to its ability in learning pattern solutions. A virtual 4-degree of freedom manipulator is exploited as an example and the theoretical results are compared with the proposed method.
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