Wavelet based neural network solution for forward kinematics problem of hydraulic shoulder parallel robot

Forward kinematics problem of parallel robots is a very difficult problem to solve in comparison to the serial manipulators due to their highly nonlinear relations between joint variables and position and orientation of the end effector. This problem is almost impossible to be solved analytically. Numerical methods are the most common approaches to solve this problem. Nevertheless, the possible lack of convergence of these methods is the main drawback. In this paper, wavelet based neural network (wave-net) approach is used to solve the forward kinematics problem of the hydraulic shoulder parallel manipulator. This problem is solved in the typical workspace of this robot. The results show the advantages of this method in decreasing modeling errors.