Kinematic Analysis of 2-DOF Planer Robot Using Artificial Neural Network
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.
[1] Saeed B. Niku, Introduction to Robotics: Analysis, Systems,
Applications, Prentice Hall, Jul 2001, p1-349.
[2] R.K. Mittal, I.J. Nagrath, Robotics and Control. New Delhi: Tata Mc
Graw Hill Publishing Company Limited, 2003.
[3] S. K. Saha, Introduction to Robotics, Tata McGraw Hill, 2008, p1-425.
[4] M Gopal, Digital Control and State Variable Methods: Conventional and
Intelligent Control Systems, Third Edition, 2009.
[5] Vijayant Agarwal, Ph. D. Thesis, Studies of Dynamics and Control of
Robotic System using Soft Computing Techniques, University of Delhi,
July 2008.
[6] Allon Gurez ,Ziauddin Ahmad, Solution to the inverse kinematics
problem in robotics by neural network., ICNN88 March 1988.
[7] 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
[8] 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.
[9] 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.
[10] 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
[1] Saeed B. Niku, Introduction to Robotics: Analysis, Systems,
Applications, Prentice Hall, Jul 2001, p1-349.
[2] R.K. Mittal, I.J. Nagrath, Robotics and Control. New Delhi: Tata Mc
Graw Hill Publishing Company Limited, 2003.
[3] S. K. Saha, Introduction to Robotics, Tata McGraw Hill, 2008, p1-425.
[4] M Gopal, Digital Control and State Variable Methods: Conventional and
Intelligent Control Systems, Third Edition, 2009.
[5] Vijayant Agarwal, Ph. D. Thesis, Studies of Dynamics and Control of
Robotic System using Soft Computing Techniques, University of Delhi,
July 2008.
[6] Allon Gurez ,Ziauddin Ahmad, Solution to the inverse kinematics
problem in robotics by neural network., ICNN88 March 1988.
[7] 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
[8] 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.
[9] 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.
[10] 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
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:52256", author = "Jolly Shah and S.S.Rattan and B.C.Nakra", title = "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.", keywords = "Artificial Neural Network, Forward Kinematics,Inverse Kinematics, Robotic Manipulator", volume = "5", number = "9", pages = "1743-4", }