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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

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Official URL: http://univagora.ro/jour/index.php/ijccc/article/v...

Abstract

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.

Item Type:Article
Keyword:Artificial neural network (ANN); Back propagation neural network; Continuous trajectory; Forward kinematics
Faculty or Institute:Faculty of Engineering
Publisher:CCC Publications
ID Code:35413
Deposited By: Nurul Ainie Mokhtar
Deposited On:11 Jan 2016 09:32
Last Modified:24 Aug 2016 11:04

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