Error-back-propagation solution to the inverse kinematic problem of redundant manipulators

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作者：

Univ of Patras, Patras, Greece ^{[1
]}

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来源：

Rob Comput Integr Manuf | / 4卷 / 303-310期

关键词：

Backpropagation - Degrees of freedom (mechanics) - Genetic algorithms - Inverse kinematics - Iterative methods - Problem solving - Robots - Vectors;

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摘要：

In this paper, the inverse kinematics problem of the generalized n-degrees-of-freedom robot is solved using the error-back-propagation algorithm. The efficiency of the proposed solution has been measured for redundant manipulators using 5000 randomly chosen Cartesian coordinates within the robot's workspace. Comparison with two other methods, the well-known pseudoinverse method and a technique based on genetic algorithms, shows that the accuracy of the present method is substantially better.

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