An artificial neural network for redundant robot inverse kinematics computation
Department of Electrical and Computer Engineering
Master of Science
Robbi, Anthony D.
Neural networks (Computer science)
A redundant manipulator can
be defined as a manipulator that has more degrees of freedom than necessary
to determine the position and orientation of the end effector. Such
a manipulator has dexterity, flexibility, and the ability to maneuver
in presence of obstacles. One important and necessary step in utilizing
a redundant robot is to relate the joint coordinates of the manipulator
with the position and orientation of the end-effector. This specification
is termed as the direct kinematics problem and can be written as x =
njit-etd1990-013 (96 pages ~ 5,718 KB pdf)
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Created April 27, 2004