Novel Artificial Neural Network Application for Prediction of Inverse Kinematics of Robot Manipulator

摘要

The robot control problem can be divided into two main areas, kinematics control (the coordination of the links of kinematics chain to produce desire motion of the robot), and dynamic control (driving the actuator of the mechanism to follow the commanded position velocities). In general the control strategies used in robot involves position coordination in Cartesian space by direct or indirect kinematics method. Inverse kinematics comprises the computation need to find the join angles for a given Cartesian position and orientation of the end effectors. This computation is fundamental to control of robot arms but it is very difficult to calculate an inverse kinematics solution of robot manipulator. For this solution most industrial robot arms are designed by using a non-linear algebraic computation to finding the inverse kinematics solution. From the literature it is well described that there is no unique solution for the inverse kinematics. That is why it is significant to apply an artificial neural network models. Here structured artificial neural network (ANN) models an approach has been proposed to control the motion of robot manipulator. In these work two types of ANN models were used. The first kind ANN model is MLP (multi-layer perceptrons) which was famous as back propagation neural network model. In this network gradient descent type of learning rules are applied. The second kind of ANN model is PPN (polynomial poly-processor neural network) where polynomial equation was used. Here, work has been undertaken to find the best ANN configuration for the problem. It was found that between MLP and PPN, MLP gives better result as compared to PPN by considering average percentage error, as the performance index.