Investigating Forward kinematic Analysis of a 5-axes Robotic Manipulator using Denavit-Hartenberg Method and Artificial Neural Network | ||
| Engineering and Technology Journal | ||
| Article 8, Volume 32, Issue 11, October 2014, Pages 2700-2713 PDF (612.83 K) | ||
| DOI: 10.30684/etj.32.11A.8 | ||
| Authors | ||
| Israa R. Shareef; Iman A. Zayer; Izzat A. Abd Al Kareem | ||
| Abstract | ||
| Robot Forward kinematic equations' analysis is an essential and important manner to analysis the position and orientation of the end effectors of a robotic manipulator, where in this paper, Denavit-Hartenberg notation and method (D – H) is used to represent the relative kinematic relationships precisely between each two adjacent links of this robot , besides a kind of artificial neural network (ANN) which is known as the supervised learning training sets network is investigated to solve the problem of kinematic analysis of this laboratory five - axes robot, it shows that the using of the artificial intelligence method which is the neural networks had offered the facility of dealing with this non linear robotic system by a simple manner with acceptable faster solution as compared with the traditional forward kinematic equations analysis method . | ||
| Keywords | ||
| Denavit; artificial neural network; DOF | ||
|
Statistics Article View: 316 PDF Download: 92 |
||