Wavelet based neural network solution for forward kinematics problem of hydraulic shoulder parallel robot

M. Dehghani, M. Eghtesad, A. Khayatian, M. Ahmadi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Forward kinematics problem of parallel robots is a very difficult problem to solve in comparison to the serial manipulators due to their highly nonlinear relations between joint variables and position and orientation of the end effector. This problem is almost impossible to be solved analytically. Numerical methods are the most common approaches to solve this problem. Nevertheless, the possible lack of convergence of these methods is the main drawback. In this paper, wavelet based neural network (wave-net) approach is used to solve the forward kinematics problem of the hydraulic shoulder parallel manipulator. This problem is solved in the typical workspace of this robot. The results show the advantages of this method in decreasing modeling errors.

Original languageEnglish (US)
Title of host publication2008 World Automation Congress, WAC 2008
StatePublished - 2008
Event2008 World Automation Congress, WAC 2008 - Waikoloa, HI, United States
Duration: Sep 28 2008Oct 2 2008

Publication series

Name2008 World Automation Congress, WAC 2008

Other

Other2008 World Automation Congress, WAC 2008
CountryUnited States
CityWaikoloa, HI
Period9/28/0810/2/08

Keywords

  • Forward kinematics
  • Parallel robot
  • Wavelet based neural network

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    Dehghani, M., Eghtesad, M., Khayatian, A., & Ahmadi, M. (2008). Wavelet based neural network solution for forward kinematics problem of hydraulic shoulder parallel robot. In 2008 World Automation Congress, WAC 2008 [4699047] (2008 World Automation Congress, WAC 2008).