Artificial Neural Networks Based Inverse Kinematics Solution and Simulation of a Six Degree of Freedom Lighting Manipulator
Journal Title: Gazi Üniversitesi Fen Bilimleri Dergisi Part C: Tasarım ve Teknoloji - Year 2018, Vol 6, Issue 1
Abstract
Inverse kinematics problem of a robot manipulator is calculation of joint variables of the manipulator. Inverse kinematic is a challenging problem of robots. The inverse kinematics in robotic is the determination of joint angles for a desired position of the end effector. This paper proposes an Artificial Neural Network (ANN) model to find Inverse kinematic solution of a 6-DOF manipulator, which is designed instead of a manually lighting system that is used in surgery rooms. After obtaining forward kinematic equations, these equations were used to derive training data of ANN. The manipulator was designed in a computer aided design (CAD) program and this CAD model transferred to Simulink environment for a realistic and visual simulation purpose. To evaluate the trained ANN performance visually, this Simulink model were used. A test input set is introduced to the trained ANN. Results are discussed and demonstrated graphically. It was observed that obtained results are satisfactory, and the error of ANN for a reference position is acceptable.
Authors and Affiliations
Nihat ÇABUK, Veli BAKIRCIOĞLU
Keywords
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- EP ID EP489646
- DOI 10.29109/http-gujsc-gazi-edu-tr.328422
- Views 76
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