Adaptive and Natural Computing Algorithms pp 112-115 | Cite as

# Applying Neural Network to Inverse Kinematic Problem for 6R Robot Manipulator with Offset Wrist

## Abstract

An Artificial Neural Network (ANN) using backpropagation algorithm is applied to solve inverse kinematics problems of industrial robot manipulator. 6R robot manipulator with offset wrist was chosen as industrial robot manipulator because geometric feature of this robot does not allow to solve inverse kinematics problems analytically. In other words, there is no closed form solution for this problem. As the number of neurons at hidden layer is varied between 4 and 32, the robot joint angles (*θ*_{1}*θ*_{2}… *θ*_{6}) were predicted with average errors of 8.9°, 7.8°, 8.3°, 13°, 8.5°, and 10.5° for the 1^{st}, 2^{nd}, 3^{rd}, 4^{th} and 6^{th} joint, respectively.

## Keywords

Artificial Neural Network Hide Layer Joint Angle Robot Manipulator Cartesian Space## Preview

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