Connectionist-genetic based algorithm for positioning industrial manipulator

In this paper the solution of inverse kinematics problem and positioning of the industrial manipulator (ROBED03) with five degrees of freedom are presented. The algorithm is based on combination of Artificial Neural Networks (ANN) and Genetic Algorithm (GA).ANN was used for rough positioning providi...

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Bibliographic Details
Main Authors: Tomic, M., Miloradovic, B., Jankovic, M.
Format: Conference Proceeding
Language:English
Subjects:
Artificial neural networks
Genetic algorithms
Inverse kinematics
Joints
Kinematics
Manipulators
Neural Network and Robot kinematics
Trajectory
Online Access:Request full text
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Summary:In this paper the solution of inverse kinematics problem and positioning of the industrial manipulator (ROBED03) with five degrees of freedom are presented. The algorithm is based on combination of Artificial Neural Networks (ANN) and Genetic Algorithm (GA).ANN was used for rough positioning providing the inputs for GA which performs precise adjustment. The algorithm was successfully tested in robot's working space.
DOI:10.1109/NEUREL.2012.6419964