Inverse Kinematics Analysis of 5-DOF Cooperative Robot Based on Long Short-Term Memory Network

Abstract

To solve the problems of lengthy computation times and slow path searches for the 5-DOF cooperative robot, an algorithm based on the long short-term memory network (LSTM) is proposed in this paper. Firstly, the forward and inverse analytical kinematics models of the 5-DOF cooperative robot are established based on the physical structure. Secondly, the forward and inverse kinematic models are verified by the Matlab robot toolbox. Then, a large amount data of the joints and the corresponding pose data are obtained by the analysis of the kinematics robot. Finally, the algorithm based on the LSTM network is established by training the data of the joints and poses. Compared with the traditional analytical method, the algorithm based on the LSTM network is more efficient and satisfies the demands of real-time computing.