A Novel Application of Artificial Neural Network for the Solution of Inverse Kinematics Controls of Robotic Manipulators

摘要

In robotic applications and research, inverse kinemat ics is one of the most important problems in terms of robot kinematics and control. Consequently, finding the solution of Inverse Kinemat ics in now days is considered as one of the most important problems in robot kinemat ics and control. As the intricacy o f robot man ipulator increases, obtaining the mathemat ical, statistical solutions of inverse kinematics are difficu lt and computationally expensive. For that reason, now soft-computing based highly intelligent based model applications should be adopted to getting appropriate solution for inverse kinematics. In this paper, a novel application of artificial neural network is used for controlling a robotic manipulator. The proposed methods are based on the establishments of the nonlinear mapping between Cartesian and joint coordinates using multi layer perceptron and functional link artificial neural network.