Simulating the Inverse Kinematic Model of a Robot through Artificial Neural Networks： Complementing the Teaching of Robotics

作     者：Jose Tarcisio Franco de Camargo Estefano Vizconde Veraszto Gilmar Barreto 

作者机构：Department of Compouter Engineering Regional Universitary Center of E. S. do Pinhal E. S. do Pinha113990-000 Brazil Department of Natural Sciences Mathematics and Education Federal University of Sao Carlos Araras 13604-900 Brazil School of Electrical and Computing Engineering State University of Campinas Campinas 13083-852 Brazil 

出 版 物：《Journal of Mechanics Engineering and Automation》 (机械工程与自动化（英文版）)

年 卷 期：2014年第4卷第12期

页      码：960-968页

摘      要：Teaching robotics necessarily involves the study of the kinematic models of robot manipulators. In turn, the kinematics of a robot manipulator can be described by its forward and reverse models. The inverse kinematic model, which provides the status of the joints according to the desired position for the tool of the robot, is typically taught and described in robotics classes through an algebraic way. However, the algebraic representation of this model is often difficult to obtain. Thus, although it is unquestionable the need for the accurate determination of the inverse kinematic model of a robot, the use of ANNs （artificial neural networks） in the design stage can be very attractive, because it allows us to predict the behavior of the robot before the formal development of its model. In this way, this paper presents a relatively quick way to simulate the inverse kinematic model of a robot, thereby allowing the student to have an overview of the model, coming to identify points that should be corrected, or that can be optimized in the structure of a robot.

主 题 词：Robotics artificial neural networks engineering education. 

学科分类：080202[080202] 08[工学] 0804[工学-材料学] 0802[工学-机械学] 

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