Neural network implementation for invers kinematic model of arm drawing robot

摘要

Nowadays, the research in robotics field is growing. One of the studies in robotics is the control method of the robotic arm movement. In this research, a 3 DOF arm drawing robot was built. An inverse kinematic models of the robot arm is made using artificial neural network method. Artificial neural network model was implemented in a GUI application. The ANN model can work in real-time to control arm robot movement to reach certain coordinates. Based on test results, the inverse kinematic models of the arm drawing robot had an error rate under 2%. It is of 0.16% for X coordinate and 0.46% for Y coordinate.