Solving continuous trajectory and forward kinematics simultaneously based on ANN
Robot movement can be predicted by incorporating Forward Kinematics (FK) and trajectory planning techniques. However, the calculations will become complicated and hard to be solved if the number of specific via points is increased. Thus, back-propagation artificial neural network is proposed in this...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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CCC Publications
2014
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| Online Access: | http://psasir.upm.edu.my/id/eprint/35413/ http://psasir.upm.edu.my/id/eprint/35413/1/Solving%20continuous%20trajectory%20and%20forward%20kinematics%20simultaneously%20based%20on%20ANN.pdf |
| _version_ | 1848848047937683456 |
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| author | Ang, Chun Kit Tang, Sai Hong Mashohor, Syamsiah Mohd Ariffin, Mohd Khairol Anuar |
| author_facet | Ang, Chun Kit Tang, Sai Hong Mashohor, Syamsiah Mohd Ariffin, Mohd Khairol Anuar |
| author_sort | Ang, Chun Kit |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | Robot movement can be predicted by incorporating Forward Kinematics (FK) and trajectory planning techniques. However, the calculations will become complicated and hard to be solved if the number of specific via points is increased. Thus, back-propagation artificial neural network is proposed in this paper to overcome this drawback due to its ability in learning pattern solutions. A virtual 4-degree of freedom manipulator is exploited as an example and the theoretical results are compared with the proposed method. |
| first_indexed | 2025-11-15T09:28:18Z |
| format | Article |
| id | upm-35413 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T09:28:18Z |
| publishDate | 2014 |
| publisher | CCC Publications |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-354132016-08-24T03:04:40Z http://psasir.upm.edu.my/id/eprint/35413/ Solving continuous trajectory and forward kinematics simultaneously based on ANN Ang, Chun Kit Tang, Sai Hong Mashohor, Syamsiah Mohd Ariffin, Mohd Khairol Anuar Robot movement can be predicted by incorporating Forward Kinematics (FK) and trajectory planning techniques. However, the calculations will become complicated and hard to be solved if the number of specific via points is increased. Thus, back-propagation artificial neural network is proposed in this paper to overcome this drawback due to its ability in learning pattern solutions. A virtual 4-degree of freedom manipulator is exploited as an example and the theoretical results are compared with the proposed method. CCC Publications 2014 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/35413/1/Solving%20continuous%20trajectory%20and%20forward%20kinematics%20simultaneously%20based%20on%20ANN.pdf Ang, Chun Kit and Tang, Sai Hong and Mashohor, Syamsiah and Mohd Ariffin, Mohd Khairol Anuar (2014) Solving continuous trajectory and forward kinematics simultaneously based on ANN. International Journal of Computers Communications & Control, 9 (3). pp. 253-260. ISSN 1841-9836 http://univagora.ro/jour/index.php/ijccc/article/view/112 |
| spellingShingle | Ang, Chun Kit Tang, Sai Hong Mashohor, Syamsiah Mohd Ariffin, Mohd Khairol Anuar Solving continuous trajectory and forward kinematics simultaneously based on ANN |
| title | Solving continuous trajectory and forward kinematics simultaneously based on ANN |
| title_full | Solving continuous trajectory and forward kinematics simultaneously based on ANN |
| title_fullStr | Solving continuous trajectory and forward kinematics simultaneously based on ANN |
| title_full_unstemmed | Solving continuous trajectory and forward kinematics simultaneously based on ANN |
| title_short | Solving continuous trajectory and forward kinematics simultaneously based on ANN |
| title_sort | solving continuous trajectory and forward kinematics simultaneously based on ann |
| url | http://psasir.upm.edu.my/id/eprint/35413/ http://psasir.upm.edu.my/id/eprint/35413/ http://psasir.upm.edu.my/id/eprint/35413/1/Solving%20continuous%20trajectory%20and%20forward%20kinematics%20simultaneously%20based%20on%20ANN.pdf |