DocumentCode
2638590
Title
Inverse estimation of joint angles of robot arm by network inversion
Author
Sekiguchi, Nanae ; Ogawa, Takehiko ; Kanada, Hajime
Author_Institution
Takushoku Univ., Takushoku
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
991
Lastpage
995
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4421129
Filename
4421129
Link To Document