Solving Continuous Trajectory and Forward Kinematics Simultaneously Based on ANN

摘要

Robot movement can be predicted by incorporating Forward Kinematics(FK) and trajectory planning techniques. However, the calculations will becomecomplicated and hard to be solved if the number of specific via points is increased.Thus, back-propagation artificial neural network is proposed in this paper to overcomethis drawback due to its ability in learning pattern solutions. A virtual 4-degreeof freedom manipulator is exploited as an example and the theoretical results arecompared with the proposed method.