Title :
A new solution for inverse kinematics of manipulator based on neural network
Author :
Wei, Li-Xin ; Wang, Hongrui ; Li, Ying
Author_Institution :
Inst. of Electron. Eng., Yanshan Univ., Qinhuangdao, China
Abstract :
This paper deals with the inverse kinematics problem of manipulator. Based on ANFIS (adaptive neural fuzzy inference system) neural network, the inverse kinematics solution of manipulator is set up. Simulation results indicate that this method has the advantage of faster learning rate, higher identifying precision and better real-time ability. Therefore, a new way for solving the inverse kinematics of manipulator is provided.
Keywords :
adaptive systems; fuzzy neural nets; fuzzy systems; inference mechanisms; manipulator kinematics; adaptive neural fuzzy inference system; computer simulation; inverse kinematics; manipulator; neural network; real-time ability; Angular velocity; Angular velocity control; Computational modeling; Equations; Fuzzy systems; Jacobian matrices; Manipulators; Motion control; Neural networks; Robot kinematics;
Conference_Titel :
Machine Learning and Cybernetics, 2003 International Conference on
Print_ISBN :
0-7803-8131-9
DOI :
10.1109/ICMLC.2003.1259668
