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Inverse kinematics solution for trajectory tracking using artificial neural networks for SCORBOT ER-4u

Kumar, Rahul and Chand, Praneel (2015) Inverse kinematics solution for trajectory tracking using artificial neural networks for SCORBOT ER-4u. [Conference Proceedings]

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    Abstract

    This paper presents the kinematic analysis of the SCORBOT-ER 4u robot arm using a Multi-Layered Feed-Forward (MLFF) Neural Network. The SCORBOT-ER 4u is a 5-DOF vertical articulated educational robot with revolute joints. The Denavit-Hartenberg and Geometrical methods are the forward kinematic algorithms used to generate data and train the neural network. The learning of forward-inverse mapping enables the inverse kinematic solution to be found. The algorithm is tested on hardware (SCORBOT-ER 4u) and reliable results are obtained. The modeling and simulations are done using MATLAB 8.0 software.

    Item Type: Conference Proceedings
    Additional Information: DOI:10.1109/ICARA.2015.7081175
    Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > Robotics and Automation
    Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Engineering and Physics
    Depositing User: Praneel Chand
    Date Deposited: 11 May 2015 10:31
    Last Modified: 24 May 2016 09:58
    URI: http://repository.usp.ac.fj/id/eprint/8191
    UNSPECIFIED

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