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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

A. S. Morris
Affiliation:
Department of Automatic Control and Systems Engineering, University of Sheffield, Mappin St., Sheffield S1 3JD, UK
M. A. Mansor
Affiliation:
Department of Automatic Control and Systems Engineering, University of Sheffield, Mappin St., Sheffield S1 3JD, UK

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.

Type
Research Article
Copyright
© 1998 Cambridge University Press

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