%0 Journal Article
%T Using a Neural Network instead of IKM in 2R Planar Robot to follow rectangular path
%J Journal of Advances in Computer Engineering and Technology
%I Science and Research Branch,Islamic Azad University
%Z 2423-4192
%A Ali, Ali Ahmad
%D 2020
%\ 05/01/2020
%V 6
%N 2
%P 71-78
%! Using a Neural Network instead of IKM in 2R Planar Robot to follow rectangular path
%K Back-Propagation(BP)
%K Denavit Hartenberg (DH)
%K Direct Kinematic Model (DKM)
%K Inverse Kinematic Model (IKM)
%K Neural Network (NN)
%R
%X Abstractâ€” An educational platform is presented here for the beginner students in the Simulation and Artificial Intelligence sciences. It provides with a start point of building and simulation of the manipulators, especially of 2R planar Robot. It also displays a method to replace the inverse kinematic model (IKM) of the Robot with a simpler one, by using a Multi-Layer Perceptron Neural Network (MLP-NN), to make the end-effector able to track a specific path, which has a rectangular shape (in this article), and allocated in the robot's workspace. The method is based on Back-Propagation Levenberg Marquardt algorithm. This paper also suggests a good strategy for the simulation of the robot's motion in Matlab to tell the beginners how the operation could be done quite closely to the built-in Matlab functions. The control part was ignored here for the simplicity. So we can classify this paper as a manual in the robotic world.
%U http://jacet.srbiau.ac.ir/article_15606_6135885197c08ee209bdf38c4de9933e.pdf