Manipulator Inverse Kinematics using an Adaptive Back-propagation Algorithm and Radial Basis Function with a Lookup Table

Authors:
A. S. Morris;M. A. Mansor
Affiliations:
Department of Automatic Control and Systems Engineering, University of Sheffield, Mappin St., Sheffield S1 3JD, UK;Department of Automatic Control and Systems Engineering, University of Sheffield, Mappin St., Sheffield S1 3JD, UK
Venue:
Robotica
Year:
1998

Citing 4
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Finding the inverse kinematics of manipulator arm using artificial neural network with lookup table

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Abstract

This is an extension of previous work which used an artificial neural network with a back-propagation algorithm and a lookup table to find the inverse kinematics for a manipulator arm moving along pre-defined trajectories. The work now described shows that the performance of this technique can be improved if the back-propagation is made to be adaptive. Also, further improvement is obtained by using the whole workspace to train the neural network rather than just a pre-defined path. For the inverse kinematics of the whole workspace, a comparison has also been done between the adaptive back-propagation algorithm and radial basis function.