An Artificial Neural Network Approach for Inverse Kinematics Computation and Singularities Prevention of Redundant Manipulators

Authors:
René V. Mayorga;Pronnapa Sanongboon
Affiliations:
Faculty of Engineering, University of Regina, Regina, Canada S4S0A2;Faculty of Engineering, University of Regina, Regina, Canada S4S0A2
Venue:
Journal of Intelligent and Robotic Systems
Year:
2005

Citing 4
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Abstract

In this article an Artificial Neural Network (ANN) approach for fast inverse kinematics computation and effective singularities prevention of redundant robot manipulators is presented. The approach is based on establishing some characterizing matrices, representing some geometrical concepts, in order to yield a simple performance index and a null space vector for singularities avoidance/prevention and safe path generation. Here, this null space vector is computed using a properly trained ANN and included in the computation of the inverse kinematics being performed also by another properly trained ANN.