Using a Neural Network instead of IKM in 2R Planar Robot to follow rectangular path

Subject Areas : Neural Networks

Ali Ali ¹ (Mechatronics , Mechanical and Electrical Engineering , Tishreen University , Lattakia , Syria)

Received: 2019-09-23 Accepted : 2020-04-12 Published : 2020-05-01

Keywords: Direct Kinematic Model (DKM), Denavit Hartenberg (DH), Neural Network (NN), Inverse Kinematic Model (IKM), Back-Propagation(BP),

Abstract :

Abstract— An educational platform is presented here for the beginner students in the Simulation and Artificial Intelligence sciences. It provides with a start point of building and simulation of the manipulators, especially of 2R planar Robot. It also displays a method to replace the inverse kinematic model (IKM) of the Robot with a simpler one, by using a Multi-Layer Perceptron Neural Network (MLP-NN), to make the end-effector able to track a specific path, which has a rectangular shape (in this article), and allocated in the robot's workspace. The method is based on Back-Propagation Levenberg Marquardt algorithm. This paper also suggests a good strategy for the simulation of the robot's motion in Matlab to tell the beginners how the operation could be done quite closely to the built-in Matlab functions. The control part was ignored here for the simplicity. So we can classify this paper as a manual in the robotic world.

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