Inverse kinematics in robotics using neural networks

Authors:
Sreenivas Tejomurtula;Subhash Kak
Affiliations:
Avant! Corporation, 46871 Bayside Parkway, Fremont, CA 94538, USA;Department of Electrical and Computer Engineering, Louisiana State University, Baton Rouge, LA 70803-5901, USA
Venue:
Information Sciences: an International Journal
Year:
1999

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Abstract

The inverse kinematics problem in robotics requires the determination of the jointangles for a desired position of the end-effector. For this underconstrained and ill-conditioned problem we propose a solution based on structured neural networks that can be trained quickly. The proposed method yields multiple and precise solutions and it is suitable for real-time applications.