Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Artificial Neural Networks: Theory and Applications
Artificial Neural Networks: Theory and Applications
Neural Networks for Pattern Recognition
Neural Networks for Pattern Recognition
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Design and Developement of Expert Systems and Neutral Networks
Design and Developement of Expert Systems and Neutral Networks
Parallel Robots
3-d.o.f. Wire Driven Planar Haptic Interface
Journal of Intelligent and Robotic Systems
Translational Planar Cable-Direct-Driven Robots
Journal of Intelligent and Robotic Systems
Cable-Direct-Driven Robot (CDDR) with Passive SCARA Support: Theory and Simulation
Journal of Intelligent and Robotic Systems
Wrench-feasible workspace generation for cable-driven robots
IEEE Transactions on Robotics
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Forward kinematics problem of cable robots is very difficult to solve the same as that of parallel robots and in the contrary to the serial manipulators'. This problem is almost impossible to solve analytically because of the nonlinearity and complexity of the robot's kinematic equations. Numerical methods are the most common solutions for this problem of the parallel and cable robots. But, convergency of these methods is the drawback of using them. In this paper, neural network approach is used to solve the forward kinematics problem of an exemplary 3D cable robot. This problem is solved in the typical workspace of the robot. The neural network used in this paper is of the MLP type and a back propagation procedure is utilized to train the network. A simulation study is performed and the results show the advantages of this method in enhancement of convergency together with very small modeling errors.