Solving Continuous Trajectory and Forward Kinematics Simultaneously Based on ANN

Chun Kit Ang, Sai Hong Tang, Syamsiah Mashohor, Mohd Khairol Anuar Mohd Arrifin


Robot movement can be predicted by incorporating Forward Kinematics
(FK) and trajectory planning techniques. However, the calculations will become
complicated and hard to be solved if the number of specific via points is increased.
Thus, back-propagation artificial neural network is proposed in this paper to overcome
this drawback due to its ability in learning pattern solutions. A virtual 4-degree
of freedom manipulator is exploited as an example and the theoretical results are
compared with the proposed method.


Artificial Neural Network (ANN), back propagation neural network, forward kinematics, continuous trajectory

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