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Kinematic Analysis of 2-DOF Planer Robot Using Artificial Neural Network

Authors: Jolly Shah, S.S.Rattan, B.C.Nakra


Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the Denavit- Hartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks for 2-DOF robotic manipulator. It shows that by using artificial neural network the solution we get is faster, acceptable and has zero error.

Keywords: Forward Kinematics, Inverse Kinematics, Artificial Neural Network, robotic manipulator

Digital Object Identifier (DOI):

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