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Approximation of Inverse Kinematic Solution of a Metamorphic 3R Manipulator with Multilayer Perceptron

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Advances in Service and Industrial Robotics (RAAD 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 980))

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Abstract

In this paper, a feedforward neural network is trained towards the generalisation of the inverse kinematics of a 3R metamorhic manipulator with one pseudojoint. A two hidden-layered network is trained with data produced by several anatomies of the metamorphic manipulator and tested to an unforeseen anatomy. The data are separated to aspects per anatomy and combined to one training set. Various configurations of the network is trained using the Levenberg-Marquardt backpropagation method and the best of them is derived. As it will be shown the derived network can achieve very low generalisation errors.

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Acknowledgement

Part of this research has been financially supported by General Secretariat for Research and Technology (GSRT) and the Hellenic Foundation for Research and Innovation (HFRI) (Code: 1184).

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Authors and Affiliations

  1. Mechanical Engineering and Aeronautics Department, University of Patras, 26500, Patras, Greece

    Markos Tzivaridis, Vassilis C. Moulianitis & Nikos A. Aspragathos

  2. Department of Product and Systems Design Engineering, University of the Aegean, 84100, Syros, Greece

    Vassilis C. Moulianitis

Authors
  1. Markos Tzivaridis
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  2. Vassilis C. Moulianitis
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  3. Nikos A. Aspragathos
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Corresponding author

Correspondence to Vassilis C. Moulianitis .

Editor information

Editors and Affiliations

  1. Department of Computer Science, Robotics Research Lab, Technische Universität Kaiserslautern, Kaiserslautern, Germany

    Karsten Berns

  2. Department of Electrical and Computer Engineering, Electromobility Group, Technische Universität Kaiserslautern, Kaiserslautern, Germany

    Daniel Görges

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Tzivaridis, M., Moulianitis, V.C., Aspragathos, N.A. (2020). Approximation of Inverse Kinematic Solution of a Metamorphic 3R Manipulator with Multilayer Perceptron. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_6

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