A Solution of Inverse Kinematics of Robot Arm Using Network Inversion

Authors:
Takehiko Ogawa;Hiromichi Matsuura;Hajime Kanada
Affiliations:
Takushoku University, Japan;Takushoku University, Japan;Takushoku University, Japan
Venue:
CIMCA '05 Proceedings of the International Conference on Computational Intelligence for Modelling, Control and Automation and International Conference on Intelligent Agents, Web Technologies and Internet Commerce Vol-1 (CIMCA-IAWTIC'06) - Volume 01
Year:
2005

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Abstract

The network inversion solves inverse problems using a multilayer neural network. The inverse kinematics to estimate the joint angles of the robot arm from the end effector's coordinate is an inverse problem .In this study, the network inversion is applied to the inverse kinematics that estimates joint angles of robot arm. The inverse problems are often difficult to solve because of the ill-posedness. The regularization method is necessary to solve the ill-posed inverse problem. In this study, the regularization method is examined to solve the ill-posedness.