Title of article
GMDH TYPE NEURAL NETWORKS AND THEIR APPLICATION TO THE IDENTIFICATION OF THE INVERSE KINEMATIC EQUATIONS OF ROBOTIC MANIPULATORS
Author/Authors
Bagheri, A. University of Guilan - Department of Mechanical Engineering, رشت, ايران , Nariman-Zadeh, N. University of Guilan - Department of Mechanical Engineering, رشت, ايران , Siavash, A. S. University of Guilan - Department of Mechanical Engineering, رشت, ايران , Khoobkar, A. R. University of Guilan - Department of Mechanical Engineering, رشت, ايران
From page
135
To page
143
Abstract
In this paper, it is shown that group method of data handling (GMDH)-type neural networks and their application can be effectively used to acquire the inverse kinematic equations of a Puma760 robot manipulator based on the numerical data of its motion. The aim of such modeling is to show the accuracy of GMDH-type neural networks. For evaluating the accuracy of the obtained equations, a new trajectory is employed to demonstrate whether the models are still valid or not. Finally, the best results are used to define the inverse kinematic equations.
Keywords
GMDH , Neural Networks , Inverse Kinematics , Puma760
Journal title
International Journal of Engineering
Journal title
International Journal of Engineering
Record number
2563091
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