Investigating Forward kinematic Analysis of a 5-axes Robotic Manipulator using Denavit-Hartenberg Method and Artificial Neural Network
Robot Forward kinematic equations' analysis is an essential and important manner to analysis the position and orientation of the end effectors of a robotic manipulator, where in this paper, Denavit-Hartenberg notation and method (D – H) is used to represent the relative kinematic relationships...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Unviversity of Technology- Iraq
2014-10-01
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| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_100021_a582b1f1538e696b5dd2cf15e45e3cc3.pdf |
| Summary: | Robot Forward kinematic equations' analysis is an essential and important manner to analysis the position and orientation of the end effectors of a robotic manipulator, where in this paper, Denavit-Hartenberg notation and method (D – H) is used to represent the relative kinematic relationships precisely between each two adjacent links of this robot , besides a kind of artificial neural network (ANN) which is known as the supervised learning training sets network is investigated to solve the problem of kinematic analysis of this laboratory five - axes robot, it shows that the using of the artificial intelligence method which is the neural networks had offered the facility of dealing with this non linear robotic system by a simple manner with acceptable faster solution as compared with the traditional forward kinematic equations analysis method . |
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| ISSN: | 1681-6900 2412-0758 |