TY - GEN
T1 - Wavelet based neural network solution for forward kinematics problem of HEXA parallel robot
AU - Dehghani, M.
AU - Ahmadi, M.
AU - Khayatian, A.
AU - Eghtesad, M.
N1 - Copyright:
Copyright 2008 Elsevier B.V., All rights reserved.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=50249083245&partnerID=8YFLogxK
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U2 - 10.1109/INES.2008.4481271
DO - 10.1109/INES.2008.4481271
M3 - Conference contribution
AN - SCOPUS:50249083245
SN - 9781424420834
T3 - 12th International Conference on Intelligent Engineering Systems - Proceedings, INES 2008
SP - 63
EP - 70
BT - 12th International Conference on Intelligent Engineering Systems - Proceedings, INES 2008
T2 - 12th International Conference on Intelligent Engineering Systems, INES 2008
Y2 - 25 February 2008 through 29 February 2008
ER -