Engineering Commons^™

An Artificial Neural Network For Redundant Robot Inverse Kinematics Computation, Wibawa Utama

Theses

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 = f(q)
where x is a vector representing the position and orientation of the end-effector, q …