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

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.