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
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
