A new adaptive learning algorithm for robot manipulator control

摘要

This paper is devoted to the development and implementation of neural network technology to solve the inverse kinematics problems for serial robot manipulators, given the desired Cartesian path of the end effector of the manipulator in a free-of-obstacles workspace. Offline smooth geometric paths in the joint space of the manipulator are obtained. The proposed technique does not require any prior knowledge of the kinematics model of the system being controlled; the main idea of this approach is the use of an artificial neural network to learn the robot system characteristics rather than having to specify an explicit robot system model. Since one of the most important problems in using artificial neural networks is the choice of the appropriate network configuration, two different configurations were compared; they were trained to learn the desired set of joint angles positions from a given set of end effector positions. The generality and efficiency of the proposed algorithm are demonstrated through simulations of a general six-degrees-of-freedom serial robot manipulator.