Title :
Inverse estimation of joint angles of robot arm by network inversion
Author :
Sekiguchi, Nanae ; Ogawa, Takehiko ; Kanada, Hajime
Author_Institution :
Takushoku Univ., Takushoku
Abstract :
The inverse problems that estimate the cause from the results have been studied in the various engineering fields. The network inversion was proposed for solving inverse problems using a multilayer neural network. In this study, the network inversion is applied to the inverse estimation of the joint angles of the robot arm. The effectiveness of the proposed method is shown in the simulation of the three degree of freedom robot arm.
Keywords :
estimation theory; inverse problems; multilayer perceptrons; robot kinematics; inverse estimation; inverse problem; multilayer neural network; network inversion; robot arm joint angle; Backpropagation; Error correction; Gradient methods; Inverse problems; Iterative methods; Manipulators; Multi-layer neural network; Neural networks; Phase estimation; Robot kinematics; Inverse problems; network inversion; robot arms;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421129
