Kinematic Analysis of 3-DOF Planer Robot Using Artificial Neural Network

Institute of Advanced Engineering and Science

Jolly Atit Shah, S.S. Rattan, Bahadur Chand Nakra,

IAES International Journal of Robotics and Automation (IJRA), Vol 1, No 3: September 2012 , pp. 145-151

Abstract

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 3-DOF robotic manipulator with revolute joints. In this study the Denavit- Hartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks for 3-DOF robotic manipulator. It shows that by using artificial neural network the solution we get is faster, acceptable and has zero error.DOI: http://dx.doi.org/10.11591/ijra.v1i3.511

Publisher: Institute of Advanced Engineering and Science

Publish Date: 2012-09-01

Publish Year: 2012

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