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Received: 2005-06-20

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Journal of Zhejiang University SCIENCE A 2006 Vol.7 No.4 P.525-529


Wavelet network solution for the inverse kinematics problem in robotic manipulator

Author(s):  Chen Hua, Chen Wei-shan, Xie Tao

Affiliation(s):  School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China

Corresponding email(s):   chenhua202@126.com

Key Words:  Inverse kinematics problem, Robotic manipulator, Wavelet network

Chen Hua, Chen Wei-shan, Xie Tao. Wavelet network solution for the inverse kinematics problem in robotic manipulator[J]. Journal of Zhejiang University Science A, 2006, 7(4): 525-529.

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%T Wavelet network solution for the inverse kinematics problem in robotic manipulator
%A Chen Hua
%A Chen Wei-shan
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%D 2006
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2006.A0525

T1 - Wavelet network solution for the inverse kinematics problem in robotic manipulator
A1 - Chen Hua
A1 - Chen Wei-shan
A1 - Xie Tao
J0 - Journal of Zhejiang University Science A
VL - 7
IS - 4
SP - 525
EP - 529
%@ 1673-565X
Y1 - 2006
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2006.A0525

wavelet network, a class of neural network consisting of wavelets, is proposed to solve the inverse kinematics problem in robotic manipulator. A wavelet network suitable for dealing with multi-input and multi-output system is constructed. The network is optimized by reducing the number of wavelets handling large dimension problem according to the sample data. The algorithms for sparseness analysis of input data and fitting wavelets to the output data with orthogonal method are introduced. Then Levenberg-Marquardt algorithm is used to train the network. Simulation results showed that this method is capable of solving the inverse kinematics problem for PUMA560.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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