Neural Learning-Based Inverse Kinematics of a Robotic Finger

A neural network-based methodology for inverse kinematics of a multi-finger robotic hand for gripping

Robotic grasping and manipulation require controlling the gripper movement through different points in its work volume, necessitating inverse kinematics computations to determine joint angles. In the present work, a novel methodology, based on a radial basis function neural network, has been proposed for the inverse kinematics solution and a genetic algorithm-based approach for optimising the n...

GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)

Neural network based inverse kinematics solution for trajectory tracking of a robotic arm

Planar two and three-link manipulators are often used in Robotics as testbeds for various algorithms or theories. In this paper, the case of a three-link planar manipulator is considered. For this type of robot a solution to the inverse kinematics problem, needed for generating desired trajectories in the Cartesian space (2D) is found by using a feed-forward neural network. © 2013 The Authors. ...

A modular neural network architecture for inverse kinematics model learning

In order to reach an object, we need to solve the inverse kinematics problem, i.e., the coordinate transformation from the visual coordinates to the joint angle vector of the arm. The learning of the inverse kinematics model for calculating every joint angle that would result in a speci"c hand position is important. However, the inverse kinematics function of the human arm is a multi-valued and...

Inverse Kinematics of an Anthropomorphic Robotic Hand

Received Jan 16, 2013 Revised May 15, 2013 Accepted Jun 4, 2013 Solution of inverse kinematic equations is a complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping that has multiple solutions. This is a typical problem in robotics where it is required to control the fingers of an anthropomorphic robotic hand to perform the tasks, it is designated ...