Solving inverse kinematics trajectory tracking of planar manipulator using neural network

Nurani Lathifah; Anik Nur Handayani; Heru Wahyu Herwanto; Siti Sendari

doi:10.1109/ICOIACT.2018.8350676

Solving inverse kinematics trajectory tracking of planar manipulator using neural network

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Nurani Lathifah, Anik Nur Handayani, Heru Wahyu Herwanto, Siti Sendari

2018 2018 International Conference on Information and Communications Technology, ICOIACT 2018 Vol. 2018-January Conference paper Cited by 5

Abstract

Inverse kinematics is the context of controlling multiple joints of a robot arm with the method of estimating the joint angles from the given end-effector coordinates. In this paper, different architecture of neural network Backpropagation Levenberg Marquardt was proposed and analyzed to solve inverse kinematics trajectory tracking in a trainer planar three-link manipulator. The result shows the amount of neuron(s) in hidden layer affected to the result of the solution. Improving the performance of the neural network can be addressed in the future work. © 2018 IEEE.

Affiliations

Department of Electrical Engineering, State University of Malang, Malang, Indonesia

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