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

Authors:
A. S. Morris;A. Mansor
Affiliations:
Department of Automatic Control & Systems Engineering, University of Sheffield, Mappin St., Sheffield S1 3JD, UK;Department of Automatic Control & Systems Engineering, University of Sheffield, Mappin St., Sheffield S1 3JD, UK
Venue:
Robotica
Year:
1997

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Abstract

Neural networks were used to find the inverse kinematics of a two-link planar and three-link manipulator arms. The neural networks utilised were multi-layered perceptions with a back-propagation training algorithm. Because of the redundancy in the manipulators studied, this work used lookup tables for the different configurations of the manipulator arm.