지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한기계학회 Journal of Mechanical Science and Technology Journal of Mechanical Science and Technology Vol.20 No.7
- 발행연도
- 2006.7
- 수록면
- 917 - 928 (12page)
이용수
초록· 키워드
오류제보하기
In recent decades, Artificial Neural Networks (ANNs) have become the focus of considerable attention in many disciplines, including robot control, where they can be used to solve nonlinear control problems. One of these ANNs applications is that of the inverse kinematic problem, which is important in robot path planning. In this paper, a neural network is employed to analyse of inverse kinematics of PUMA 560 type robot. The neural network is designed to find exact kinematics of the robot. The neural network is a feedforward neural network (FNN). The FNN is trained with different types of learning algorithm for designing exact inverse model of the robot. The Unimation PUMA 560 is a robot with six degrees of freedom and rotational joints. Inverse neural network model of the robot is trained with different learning algorithms for finding exact model of the robot. From the simulation results, the proposed neural network has superior performance for modelling complex robot's kinematics.
목차
영어 초록
1. Introduction
2. Inverse Kinematic Solution of Puma Robot Manipulator
3. Feedforward Neural Network
4. Simulation
5. Conclusion and Discussion
Acknowledgments
References
참고문헌 (13)
참고문헌 신청
Aspragathos, N. A. and Dimitros, J. K., 1998, "A Comparative Study of Three Methods for Robot Kinematics," IEEE Transcations on Systems Man and Cybernetics Part B-Cybernetics, Vol.28, No.2, pp.135~145.
Bravo, F. J. A., 1990, "Multi Layer Back Propagation Network for Learning The Forward and Inverse Kinematic Equations," In Proceedings of The International JCNNs, Washington D. C., Vol.2, pp.319~322.
Choi, K. B., 2003, "Kinematic Analysis and Optimal Design of 3-PPR Planar Parallel Manipulator," KSME International Journal, Vol.17, No.4, pp.528~537.
Craig, J. J., 1989, Introduction to Robotics: Mechanics and Control, Addison Wesley Publishing Company.
Guez, A. and Ahmad, Z., 1989, "Accelerated Convergence in The Inverse Kinematics Via Multi-layer Feed Forward Neural Networks," In Proceeding of The International JCNNs, Washington D. C., Vol.2, pp.341~347.
Bravo, F. J. A., 1990, "Multi Layer Back Propagation Network for Learning The Forward and Inverse Kinematic Equations," In Proceedings of The International JCNNs, Washington D. C., Vol.2, pp.319~322.
Choi, K. B., 2003, "Kinematic Analysis and Optimal Design of 3-PPR Planar Parallel Manipulator," KSME International Journal, Vol.17, No.4, pp.528~537.
Craig, J. J., 1989, Introduction to Robotics: Mechanics and Control, Addison Wesley Publishing Company.
Guez, A. and Ahmad, Z., 1989, "Accelerated Convergence in The Inverse Kinematics Via Multi-layer Feed Forward Neural Networks," In Proceeding of The International JCNNs, Washington D. C., Vol.2, pp.341~347.
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