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 |
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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 |
| _version_ | 1797325684618559488 |
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| author | Israa R. Shareef Iman A. Zayer Izzat A. Abd Al Kareem |
| author_facet | Israa R. Shareef Iman A. Zayer Izzat A. Abd Al Kareem |
| author_sort | Israa R. Shareef |
| collection | DOAJ |
| description | 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 . |
| first_indexed | 2024-03-08T06:12:55Z |
| format | Article |
| id | doaj.art-ea1e4863ef204668b179a714f5799920 |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T06:12:55Z |
| publishDate | 2014-10-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-ea1e4863ef204668b179a714f57999202024-02-04T17:31:37ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582014-10-0132112700271310.30684/etj.32.11A.8100021Investigating Forward kinematic Analysis of a 5-axes Robotic Manipulator using Denavit-Hartenberg Method and Artificial Neural NetworkIsraa R. ShareefIman A. ZayerIzzat A. Abd Al KareemRobot 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 .https://etj.uotechnology.edu.iq/article_100021_a582b1f1538e696b5dd2cf15e45e3cc3.pdfdenavitartificial neural networkdof |
| spellingShingle | Israa R. Shareef Iman A. Zayer Izzat A. Abd Al Kareem Investigating Forward kinematic Analysis of a 5-axes Robotic Manipulator using Denavit-Hartenberg Method and Artificial Neural Network Engineering and Technology Journal denavit artificial neural network dof |
| title | Investigating Forward kinematic Analysis of a 5-axes Robotic Manipulator using Denavit-Hartenberg Method and Artificial Neural Network |
| title_full | Investigating Forward kinematic Analysis of a 5-axes Robotic Manipulator using Denavit-Hartenberg Method and Artificial Neural Network |
| title_fullStr | Investigating Forward kinematic Analysis of a 5-axes Robotic Manipulator using Denavit-Hartenberg Method and Artificial Neural Network |
| title_full_unstemmed | Investigating Forward kinematic Analysis of a 5-axes Robotic Manipulator using Denavit-Hartenberg Method and Artificial Neural Network |
| title_short | Investigating Forward kinematic Analysis of a 5-axes Robotic Manipulator using Denavit-Hartenberg Method and Artificial Neural Network |
| title_sort | investigating forward kinematic analysis of a 5 axes robotic manipulator using denavit hartenberg method and artificial neural network |
| topic | denavit artificial neural network dof |
| url | https://etj.uotechnology.edu.iq/article_100021_a582b1f1538e696b5dd2cf15e45e3cc3.pdf |
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