Robot arm inverse kinematics based routing using neural networks

Planar two and three-link manipulators are often used in Robotics as test beds for various algorithms or theories. In this paper, the case of a three-link planar manipulator is considered. For this type of robot a solution to the inverse kinematics problem, needed for generating desired trajectories in the Cartesian space (2 D) is found by using a feed-forward neural network.

کلیدواژه ها:

robotic arm ، planar manipulator ، inverse kinematics ، trajectory ، neural networks