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Manipulator Inverse Kinematics using an Adaptive Back-propagation Algorithm and Radial Basis Function with a Lookup Table

Published online by Cambridge University Press:  01 July 1998

A. S. Morris  and
M. A. Mansor
A. S. Morris
Affiliation:
Department of Automatic Control and Systems Engineering, University of Sheffield, Mappin St., Sheffield S1 3JD, UK
M. A. Mansor
Affiliation:
Department of Automatic Control and Systems Engineering, University of Sheffield, Mappin St., Sheffield S1 3JD, UK
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Abstract

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This is an extension of previous work which used an artificial neural network with a back-propagation algorithm and a lookup table to find the inverse kinematics for a manipulator arm moving along pre-defined trajectories. The work now described shows that the performance of this technique can be improved if the back-propagation is made to be adaptive. Also, further improvement is obtained by using the whole workspace to train the neural network rather than just a pre-defined path. For the inverse kinematics of the whole workspace, a comparison has also been done between the adaptive back-propagation algorithm and radial basis function.

Keywords

Artificial neural networkRadial basis functionAdaptive back-propagation algorithmInverse kinematicsLookup tableTwo link planar manipulator armThree link manipulator arm
Type
Research Article
Information
Robotica , Volume 16 , Issue 4 , July 1998 , pp. 433 - 444
Copyright
© 1998 Cambridge University Press