Authors
Wisanu Jitviriya, Jiraphan Inthiam, Eiji Hayashi
Corresponding Author
Wisanu Jitviriya
Available Online 1 June 2017.
DOI
https://doi.org/10.2991/jrnal.2017.4.1.15
Keywords
Inverse kinematics solution, Artificial neural network, Levenberg-Marquardt
method.
Abstract
This paper presents the cloud action model for a five DOF Seamless robotic
arm using the inverse kinematics solution based on artificial neural network
(ANN). Levenberg-Marquardt method is used in training algorithm. The desired
position and orientation of the end effector is defined as the input pattern
of neural network. In addition, we propose the cloud action which is the
movement patterns of the robotic arm. The cloud action platform is created
in order to perform the basic behaviors of the Seamless robot such as “Catch”,
“Approach”, “Interest”, “Look around”, “Alert” and “Avoid” actions. Experimental
results show the suitable structure of artificial neural network used for
solving the inverse kinematics equation, and the testing points in the
robot’s workspace were verified with the robotic arm.
Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).