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Solution of Forward Kinematic for Five Axis Robot Arm using ANN
Journal: Electronic Letters on Science & Engineering (Vol.1, No. 1)Publication Date: 2005-03-01
Authors : A. Mühürcü;
Page : 55-59
Keywords : Artificial neural network; robot arm; forward kinematic;
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Abstract
In this work, there has been used Artificial Neural Networks (ANNs) for solution of forward kinematic of fiveaxisarticulatedrobotarm.Theinputsarethefivedegrees (θ1,θ2,θ3,θ4,θ5)ofthearmaxis. Thereby the outputs are positions of x,y,z. The arm motions are made by servo motors. This type of motors needs only position knowledge for rotating. The results of the study clearly demonstrate the ANN results are very close to the observed values of forward kinematic.
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