Commenced in January 2007
Paper Count: 30172
Kinematic Analysis of 2-DOF Planer Robot Using Artificial Neural Network
Abstract: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.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1058563Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3942
 Saeed B. Niku, Introduction to Robotics: Analysis, Systems, Applications, Prentice Hall, Jul 2001, p1-349.
 R.K. Mittal, I.J. Nagrath, Robotics and Control. New Delhi: Tata Mc Graw Hill Publishing Company Limited, 2003.
 S. K. Saha, Introduction to Robotics, Tata McGraw Hill, 2008, p1-425.
 M Gopal, Digital Control and State Variable Methods: Conventional and Intelligent Control Systems, Third Edition, 2009.
 Vijayant Agarwal, Ph. D. Thesis, Studies of Dynamics and Control of Robotic System using Soft Computing Techniques, University of Delhi, July 2008.
 Allon Gurez ,Ziauddin Ahmad, Solution to the inverse kinematics problem in robotics by neural network., ICNN88 March 1988.
 L.Acosta,G.N.Marichal, L.Moreno,J.J.Rodrigo, A.Hmilton,J.A.Mendez, A robotic system based on neural network controllers.,artificial intelligence in engineering 13 (1999) 393-398
 Vijyant Agarwal, A. P. Mittal, B. C. Nakra, A Study of Fuzzy Logic Based Inverse Kinematics Solution, Proceedings International Conference on Computer Applications in Electrical Engineering, Roorkee, Sept. 2005, p1-4.
 Srinivasan Alavander, M.J. Nigam, Inverse Kinematics Solution of 3DOF Planar Robot using ANFIS, International Journal of Computers, Communications and Control, Vol. III(2008), p150-155.
 Jose Antonio Martin H. ,Javier de Lope, Matilde Santos.A method to learn the inverse kinematics of multi-link robots by evolving neurocontrollers, Neurocomputing(2009), 2806-2814