Artificial Neural Networks Applied in the Solution of the Inverse Kinematics Problem of a 3D Manipulator Arm

被引：0

作者：

Dalmedico, Jonatas Favotto ^{[1
]}

Mendonca, Marco ^{[2
]}

de Souza, Lucas Botoni ^{[2
]}

Duarte Barros, Ruan Victor P. ^{[2
]}

Chrun, Ivan Rossato ^{[3
]}

机构：

[1] Fed Univ Technol Parana UTFPR, Mech Engn Dept DAMEC, Cornelio Procopio, Brazil

[2] Fed Univ Technol Parana UTFPR, Eletr Engn Dept DAELE, Cornelio Procopio, Brazil

[3] Fed Univ Technol Parana UTFPR, CPGEI Grad Sch Elect & Comp Engn, Curitiba, Parana, Brazil

来源：

2018 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN) | 2018年

关键词：

Robotic Arm; Inverse Kinematics; Neural Networks;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper approaches the classic problem of robotics' Inverse Kinematics. This problem does not have a trivial solution due its solution complexity, in addition to multiple solutions for the same final position of the robotic actuator. The number of solutions increases with the number of degrees of freedom. In this context, the goal of this paper is to present a solution to this problem through the application of an Artificial Neural Network (ANN) in a robotic arm with 4 degrees of freedom in three dimensions. Initial results with a set of seven points using two different ANN configurations were convincing.

引用

页码：787 / 792

页数：6

共 50 条

[21] On Stable Solution of 3D Gravity Inverse Problem
Martyshko, Petr S.
Ladovskii, Igor V.
Byzov, Denis D.
Tsidaev, Alexander G.
PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON NUMERICAL ANALYSIS AND APPLIED MATHEMATICS 2016 (ICNAAM-2016), 2017, 1863
[22] Structure Design and Solution of Kinematics of Robot Manipulator for 3D Concrete Printing
Zada, Vaclav
Belda, Kvetoslav
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2022, 19 (04) : 3723 - 3734
[23] Inverse kinematics for humanoid robots using artificial neural networks
de Lope, J
González-Careaga, R
Zarraonandia, T
Maravall, D
COMPUTER AIDED SYSTEMS THEORY - EUROCAST 2003, 2003, 2809 : 448 - 459
[24] A Complete Solution to the Inverse Kinematics Problem for 4-DOF Manipulator Robot
Si, Yang
Jia, Qingxuan
Chen, Gang
Sun, Hanxu
PROCEEDINGS OF THE 2013 IEEE 8TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2013, : 1880 - 1884
[25] Inverse Kinematics Solution using Neural Networks from Forward Kinematics Equations
Srisuk, Pannawit
Sento, Adna
Kitjaidure, Yuttana
2017 9TH INTERNATIONAL CONFERENCE ON KNOWLEDGE AND SMART TECHNOLOGY (KST), 2017, : 61 - 65
[26] On some peculiarities of neural network approximation applied to the inverse kinematics problem
Bartecki, Krzysztof
2010 CONFERENCE ON CONTROL AND FAULT-TOLERANT SYSTEMS (SYSTOL'10), 2010, : 317 - 322
[27] Reconstruction of the Problem of 3D Electrical Impedance Tomography by using Artificial Neural Networks
Duran, Guilherme C.
Sato, Andre K.
Ueda, Edson K.
Martins, Thiago C.
Takimoto, Rogerio Y.
Tsuzuki, Marcos S. G.
2021 14TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRY APPLICATIONS (INDUSCON), 2021, : 994 - 998
[28] Inverse Kinematics of Large Hydraulic Manipulator Arm Based on ASWO Optimized BP Neural Network
Lin, Yansong
Xu, Qiaoyu
Ju, Wenhao
Zhang, Tianle
APPLIED SCIENCES-BASEL, 2024, 14 (13):
[29] HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimation
Li, Jiefeng
Xu, Chao
Chen, Zhicun
Bian, Siyuan
Yang, Lixin
Lu, Cewu
2021 IEEE/CVF CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, CVPR 2021, 2021, : 3382 - 3392
[30] Solution and validation of inverse kinematics using Deep Artificial neural network
Shah, Shubham Kamlesh
Mishra, Ruby
Ray, Lala Samprit
MATERIALS TODAY-PROCEEDINGS, 2020, 26 : 1250 - 1254

← 1 2 3 4 5 →