학술논문
Kinematics analysis and numerical simulation of hybrid serial-parallel manipulator based on neural network
Document Type
TEXT
Author
Source
Neural network world: international journal on neural and mass-parallel computing and information systems | 2015 Volume:25 | Number:4
Subject
Language
English
Abstract
This paper presents solution of kinematics analysis of a specific class of serial-parallel manipulators, known as 2-(6UPS) manipulators, which are composed of several modules consisting of elementary manipulators with the parallel structure of the Stewart platform, by artificial neural network. At first, the kinematics model of the hybrid manipulator is obtained. Then, as the inverse kinematics problem of this kind of manipulators is a very difficult problem to solve because of their highly nonlinear relations between joint variables and position and orientation of the end effectors, a wavelet based neural network (wave-net) with its inherent learning ability as a strong method was used to solve the inverse kinematics problem. Also, the proposed wavelet neural network (WNN) is applied to approximate the paths of middle and upper plate in a circular and a spiral path, respectively. The results show high accurate performance of the proposed WNN.