Error-back-propagation solution to the inverse kinematic problem of redundant manipulators

被引：0
|
作者：
Univ of Patras, Patras, Greece [1 ]
机构：
来源：
Rob Comput Integr Manuf | / 4卷 / 303-310期
关键词：
Backpropagation - Degrees of freedom (mechanics) - Genetic algorithms - Inverse kinematics - Iterative methods - Problem solving - Robots - Vectors;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, the inverse kinematics problem of the generalized n-degrees-of-freedom robot is solved using the error-back-propagation algorithm. The efficiency of the proposed solution has been measured for redundant manipulators using 5000 randomly chosen Cartesian coordinates within the robot's workspace. Comparison with two other methods, the well-known pseudoinverse method and a technique based on genetic algorithms, shows that the accuracy of the present method is substantially better.
引用
收藏
相关论文
共 50 条
  • [11] COMBINED ANALYTICAL-PSEUDOINVERSE INVERSE KINEMATIC SOLUTION FOR SIMPLE REDUNDANT MANIPULATORS AND SINGULARITY AVOIDANCE
    KIRCANSKI, MV
    PETROVIC, TM
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1993, 12 (02): : 188 - 196
  • [12] AN EFFICIENT PSEUDO-INVERSE SOLUTION TO THE INVERSE KINEMATIC PROBLEM FOR 6-JOINT MANIPULATORS
    CHIAVERINI, S
    EGELAND, O
    MODELING IDENTIFICATION AND CONTROL, 1990, 11 (04) : 201 - 222
  • [13] A GENERALIZED PRACTICAL METHOD FOR ANALYTIC SOLUTION OF THE CONSTRAINED INVERSE KINEMATICS PROBLEM OF REDUNDANT MANIPULATORS
    ABDELRAHMAN, TM
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1991, 10 (04): : 382 - 395
  • [14] Analytical Inverse Kinematic Solution for Modularized 7-DoF Redundant Manipulators with Offsets at Shoulder and Wrist
    Luo, Ren C.
    Lin, Tsung-Wei
    Tsai, Yun-Hsuan
    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, : 516 - 521
  • [15] Analytical inverse kinematic solution for modularized 7-DoF redundant manipulators with offsets at shoulder and wrist
    Luo, Ren C.
    Lin, Tsung-Wei
    Tsai, Yun-Hsuan
    IEEE International Conference on Intelligent Robots and Systems, 2014, : 516 - 521
  • [16] INSTANTANEOUS INVERSE KINEMATIC SOLUTION FOR REDUNDANT MANIPULATORS BASED ON VIRTUAL ARMS AND ITS APPLICATION TO WINDING CONTROL
    TSUJI, T
    NAKAYAMA, S
    ARAKI, A
    ITO, K
    JSME INTERNATIONAL JOURNAL SERIES C-DYNAMICS CONTROL ROBOTICS DESIGN AND MANUFACTURING, 1995, 38 (01): : 87 - 93
  • [17] An inverse kinematics solution with trajectory scaling for redundant manipulators
    Wolinski, Lukasz
    Wojtyra, Marek
    MECHANISM AND MACHINE THEORY, 2024, 191
  • [18] An Inverse Kinematics Solution with Trajectory Scaling for Redundant Manipulators
    Wolin´ski, Lukasz
    Wojtyra, Marek
    SSRN, 2023,
  • [19] Inverse Kinematic Control Method of Redundant Manipulators with Joint Limits Constraints
    Fei, Ting
    Chen, Xin
    Xu, Jiafeng
    2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 3893 - 3898
  • [20] Combined method with suboptimal criteria to inverse kinematic problems for redundant manipulators
    Jixie Kexue Yu Jishu, 6 (939):
12345