Reduction of active degrees of freedom in motion learning

In this work, possibility of decreasing active degrees of freedom in the motion learning was investigated. For simplicity, it was focussed on producing the motion of a robot arm with four degrees of freedom only from a three-dimensional time sequence of Cartesian positions generated by movements of a mouse on pad while writing. In this case, the attitude angles(orientation) of the arm´s end-effector cannot be directly determined since the mouse trajectory has no information about it. However, this problem is solved by using an artificial neural network which maps a segment of the time sequence onto the attitude angles. Additionally, to confirm the effectiveness of the proposed scheme, successful hand-writing is actually performed by the robot manipulator.