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

Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics

The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return me...

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

Kinematic Synthesis of Parallel Manipulator via Neural Network Approach

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

Multi-fingered robot hand optimal task force distribution: Neural inverse kinematics approach

Grasping and manipulation force distribution optimization of multi-fingered robotic hands can be formulated as a problem for minimizing an objective function subject to form-closure constraints, kinematics, and balance constraints of external force. In this paper we present a novel neural network for dexterous hand-grasping inverse kinematics mapping used in force optimization. The proposed opt...

Using a Neural Network instead of IKM in 2R Planar Robot to follow rectangular path

Abstract— An educational platform is presented here for the beginner students in the Simulation and Artificial Intelligence sciences. It provides with a start point of building and simulation of the manipulators, especially of 2R planar Robot. It also displays a method to replace the inverse kinematic model (IKM) of the Robot with a simpler one, by using a Multi-Layer Perceptron Neural Network ...