Artificial Neural Networks Applied in the Solution of the Inverse Kinematics Problem of a 3D Manipulator Arm

This paper approaches the classic problem of robotics' Inverse Kinematics. This problem does not have a trivial solution due its solution complexity, in addition to multiple solutions for the same final position of the robotic actuator. The number of solutions increases with the number of degre...

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Bibliographic Details
Main Authors: Dalmedico, Jonatas Favotto, Mendonca, Marcio, de Souza, Lucas Botoni, Duarte Barros, Ruan Victor P., Chrun, Ivan Rossato
Format: Conference Proceeding
Language:English
Subjects:
Artificial neural networks
Inverse Kinematics
Kinematics
Manipulators
Neural Networks
Robot kinematics
Robotic Arm
Three-dimensional displays
Training
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Summary:This paper approaches the classic problem of robotics' Inverse Kinematics. This problem does not have a trivial solution due its solution complexity, in addition to multiple solutions for the same final position of the robotic actuator. The number of solutions increases with the number of degrees of freedom In this context, the goal of this paper is to present a solution to this problem through the application of an Artificial Neural Network (ANN) in a robotic arm with 4 degrees of freedom in three dimensions. Initial results with a set of seven points using two different ANN configurations were convincing.
ISSN:2161-4407
DOI:10.1109/IJCNN.2018.8489532