A Method for Inverse Kinematic Solutions of 3R Manipulators with Coupling

In order to control a robot manipulator, we need to determine the joint combination of the manipulator for the given end-effector’s position. This paper presents a neural learning-based method for the inverse kinematic solutions of a 3R manipulator that has three revolute joints with a coupling. Esp...

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Bibliographic Details
Published inIntelligent Robotics and Applications pp. 742 - 749
Main Author Kim, Byoung-Ho
Format Book Chapter
LanguageEnglish
Published Berlin, Heidelberg Springer Berlin Heidelberg 2013
SeriesLecture Notes in Computer Science
Subjects
3R manipulator
Inverse kinematic solution
Neural learning scheme
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ISBN9783642408519
3642408516
ISSN0302-9743
1611-3349
DOI10.1007/978-3-642-40852-6_73

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Summary:In order to control a robot manipulator, we need to determine the joint combination of the manipulator for the given end-effector’s position. This paper presents a neural learning-based method for the inverse kinematic solutions of a 3R manipulator that has three revolute joints with a coupling. Especially, we use a neural learning algorithm for effective learning of a multi-layered neural network. The usefulness of the proposed approach is verified by simulations.
ISBN:9783642408519
3642408516
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-642-40852-6_73