Teaching robotics necessarily involves the study of the kinematic models of robot manipulators. In turn, the kinematics of a robot manipulator can be described by its forward and reverse models. The inverse kinematic ...Teaching robotics necessarily involves the study of the kinematic models of robot manipulators. In turn, the kinematics of a robot manipulator can be described by its forward and reverse models. The inverse kinematic model, which provides the status of the joints according to the desired position for the tool of the robot, is typically taught and described in robotics classes through an algebraic way. However, the algebraic representation of this model is often difficult to obtain. Thus, although it is unquestionable the need for the accurate determination of the inverse kinematic model of a robot, the use of ANNs （artificial neural networks） in the design stage can be very attractive, because it allows us to predict the behavior of the robot before the formal development of its model. In this way, this paper presents a relatively quick way to simulate the inverse kinematic model of a robot, thereby allowing the student to have an overview of the model, coming to identify points that should be corrected, or that can be optimized in the structure of a robot.展开更多
文摘Teaching robotics necessarily involves the study of the kinematic models of robot manipulators. In turn, the kinematics of a robot manipulator can be described by its forward and reverse models. The inverse kinematic model, which provides the status of the joints according to the desired position for the tool of the robot, is typically taught and described in robotics classes through an algebraic way. However, the algebraic representation of this model is often difficult to obtain. Thus, although it is unquestionable the need for the accurate determination of the inverse kinematic model of a robot, the use of ANNs （artificial neural networks） in the design stage can be very attractive, because it allows us to predict the behavior of the robot before the formal development of its model. In this way, this paper presents a relatively quick way to simulate the inverse kinematic model of a robot, thereby allowing the student to have an overview of the model, coming to identify points that should be corrected, or that can be optimized in the structure of a robot.
