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Neural Network Solution for Forward Kinematics Problem of Cable Robots

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Abstract

Forward kinematics problem of cable robots is very difficult to solve the same as that of parallel robots and in the contrary to the serial manipulators’. This problem is almost impossible to solve analytically because of the nonlinearity and complexity of the robot’s kinematic equations. Numerical methods are the most common solutions for this problem of the parallel and cable robots. But, convergency of these methods is the drawback of using them. In this paper, neural network approach is used to solve the forward kinematics problem of an exemplary 3D cable robot. This problem is solved in the typical workspace of the robot. The neural network used in this paper is of the MLP type and a back propagation procedure is utilized to train the network. A simulation study is performed and the results show the advantages of this method in enhancement of convergency together with very small modeling errors.

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Author notes

  1. Mohammad Eghtesad

    Present address: Department of Mechanical Engineering, University of Ottawa, Ottawa, Ontario, Canada, K1N 6N5

Authors and Affiliations

  1. Department of Mechanical Engineering, School of Engineering, Shiraz University, Mollasadra Ave, Shiraz, Iran, 71348-51154

    Ali Ghasemi, Mohammad Eghtesad & Mehrdad Farid

Authors
  1. Ali Ghasemi
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  2. Mohammad Eghtesad
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  3. Mehrdad Farid
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Correspondence to Mohammad Eghtesad.

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Ghasemi, A., Eghtesad, M. & Farid, M. Neural Network Solution for Forward Kinematics Problem of Cable Robots. J Intell Robot Syst 60, 201–215 (2010). https://doi.org/10.1007/s10846-010-9421-z

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  • DOI: https://doi.org/10.1007/s10846-010-9421-z

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