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

Kumar, Rahul R. 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:	10 May 2015 22:31
Last Modified:	24 Nov 2022 23:54
URI:	https://repository.usp.ac.fj/id/eprint/8191

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