Wavelet based neural network solution for forward kinematics problem of HEXA parallel robot

M. Dehghani, M. Ahmadi, A. Khayatian, M. Eghtesad

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

Forward kinematics problem of parallel robots is very difficult to solve in comparison to the serial manipulators because of the highly nonlinear relations between joint variables and position and orientation of the end effector. This problem is almost impossible to solve analytically. Numerical methods are one of the common solutions for this problem. But, convergency of these methods is the drawback of using them. In this paper, wavelet based neural network (wave-net) approach is used to solve the forward kinematics problem of the HEXA parallel manipulator. This problem is solved in the typical workspace of this robot. Simulation results show the advantages of employing wavelet neural networks in enhancement of convergency and decreasing modeling errors.

Original languageEnglish (US)
Title of host publication12th International Conference on Intelligent Engineering Systems - Proceedings, INES 2008
Pages63-70
Number of pages8
DOIs
StatePublished - 2008
Event12th International Conference on Intelligent Engineering Systems, INES 2008 - Miami, FL, United States
Duration: Feb 25 2008Feb 29 2008

Publication series

Name12th International Conference on Intelligent Engineering Systems - Proceedings, INES 2008

Other

Other12th International Conference on Intelligent Engineering Systems, INES 2008
CountryUnited States
CityMiami, FL
Period2/25/082/29/08

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