A neuro-genetic approach to the inverse kinematics solution of robotic manipulators

摘要

In this paper, a neuro-genetic approach is proposed for the inverse kinematics problem solution of robotic manipulators. The proposed solution method is based on using neural networks and genetic algorithms in a hybrid system. Neural networks have been used by many researchers in the inverse kinematics solution. Since the neural networks work with an acceptable error, the error at the end of learning has to be minimized for sensitive applications. This study is based on using genetic algorithms to minimize this error. A case study is presented for a 6 degree of freedom robot. In the neural network part, three Elman networks are separately trained and then used in parallel since one Elman network may give better result than the other two ones. These three results are placed in the initial population of the genetic algorithm. The end effector position error is defined as the fitness function and genetic algorithm is implemented. Thus, the error is reduced in micrometer levels.   Key words: Elman neural networks, error minimization, six-degree-of-freedom robot, genetic algorithms, robotics.