Manipulator Inverse Kinematics using an Adaptive Back-propagation Algorithm and Radial Basis Function with a Lookup Table
Published online by Cambridge University Press: 01 July 1998
Abstract
This is an extension of previous work which used an artificial neural network with a back-propagation algorithm and a lookup table to find the inverse kinematics for a manipulator arm moving along pre-defined trajectories. The work now described shows that the performance of this technique can be improved if the back-propagation is made to be adaptive. Also, further improvement is obtained by using the whole workspace to train the neural network rather than just a pre-defined path. For the inverse kinematics of the whole workspace, a comparison has also been done between the adaptive back-propagation algorithm and radial basis function.
Keywords
- Type
- Research Article
- Information
- Copyright
- © 1998 Cambridge University Press
- 2
- Cited by