Solution to the Forward and Inverse Kinematic Equations Using Multilayer Back-Propagation Neural Network

Abstract

Abstract The problem of inverse kinematics in Robotics, is a nonlinear mapping from a given cartesian coordinates to the desirable joint coordinates of the robot arm. It is found that an appropriately designed neural network can be trained to learn the non-linearity of the Inverse Kinematic Equation (IKE). We present an approach for solving the Forward Kinematic Equation (FKE) and the IKE by means of a Multi Layer Back-Propagation Neural Network (Rumelhart et al., 1986). The neural network approach is applied to a Two Degrees-of-Freedom (DOF) robot manipulator and the results are compared with those obtained using the analytical solution. The results obtained from the simulation of the neural network indicate a fairly accurate learning of the FKE and IKE by the Multi Layer Back-Propagation Neural Network.