Açık Akademik Arşiv Sistemi

A study of neural network based inverse kinematics solution for a three-joint robot

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dc.contributor.authors Koker, R; Oz, C; Cakar, T; Ekiz, H;
dc.date.accessioned 2020-01-13T07:56:59Z
dc.date.available 2020-01-13T07:56:59Z
dc.date.issued 2004
dc.identifier.citation Koker, R; Oz, C; Cakar, T; Ekiz, H; (2004). A study of neural network based inverse kinematics solution for a three-joint robot. ROBOTICS AND AUTONOMOUS SYSTEMS, 49, 234-227
dc.identifier.issn 0921-8890
dc.identifier.uri https://hdl.handle.net/20.500.12619/2434
dc.identifier.uri https://doi.org/10.1016/j.robot.2004.09.010
dc.description.abstract A neural network based inverse kinematics solution of a robotic manipulator is presented in this paper. Inverse kinematics problem is generally more complex for robotic manipulators. Many traditional solutions such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. In this study, a three-joint robotic manipulator simulation software, developed in our previous studies, is used. Firstly, we have generated many initial and final points in the work volume of the robotic manipulator by using cubic trajectory planning. Then, all of the angles according to the real-world coordinates (x, y, z) are recorded in a file named as training set of neural network. Lastly, we have used a designed neural network to solve the inverse kinematics problem. The designed neural network has given the correct angles according to the given (x, y, z) cartesian coordinates. The online working feature of neural network makes it very successful and popular in this solution. (C) 2004 Elsevier B.V. All rights reserved.
dc.language English
dc.publisher ELSEVIER SCIENCE BV
dc.subject Robotics
dc.title A study of neural network based inverse kinematics solution for a three-joint robot
dc.type Article
dc.identifier.volume 49
dc.identifier.startpage 227
dc.identifier.endpage 234
dc.contributor.department Sakarya Uygulamalı Bilimler Üniversitesi/Teknoloji Fakültesi/Elektrik Ve Elektronik Mühendisliği Bölümü
dc.contributor.saüauthor Köker, Raşit
dc.contributor.saüauthor Öz, Cemil
dc.contributor.saüauthor Çakar, Tarık
dc.contributor.saüauthor Ekiz, Hüseyin
dc.relation.journal ROBOTICS AND AUTONOMOUS SYSTEMS
dc.identifier.wos WOS:000225762400010
dc.identifier.doi 10.1016/j.robot.2004.09.010
dc.contributor.author Köker, Raşit
dc.contributor.author Öz, Cemil
dc.contributor.author Çakar, Tarık
dc.contributor.author Ekiz, Hüseyin


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