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Modeling of Inverse Kinematic of 3-DoF Robot, Using Unit Quaternions and Artificial Neural Network

Published online by Cambridge University Press:  08 January 2021

Eusebio Jiménez-López Open the ORCID record for Eusebio Jiménez-López [Opens in a new window] ,
Daniel Servín de la Mora-Pulido ,
Luis Alfonso Reyes-Ávila ,
Raúl Servín de la Mora-Pulido ,
Javier Melendez-Campos  and
Aldo Augusto López-Martínez
Eusebio Jiménez-López*
Affiliation:
Department of Engineering and Technology, Universidad La Salle Noroeste-CIAAM de la Universidad Tecnológica del Sur de Sonora-IIMM, Cd. Obregón, México
Daniel Servín de la Mora-Pulido
Affiliation:
Department of Engineering and Technology, Universidad La Salle Noroeste, Cd. Obregón, México Emails: daniel.smp@outlook.com, raul.sdm@outlook.com, jmelendezcampos@hotmail.com
Luis Alfonso Reyes-Ávila
Affiliation:
Department of Telematics, Instituto Mexicano del Transporte, Querétaro, México Email: lreyesa@imt.mx
Raúl Servín de la Mora-Pulido
Affiliation:
Department of Engineering and Technology, Universidad La Salle Noroeste, Cd. Obregón, México Emails: daniel.smp@outlook.com, raul.sdm@outlook.com, jmelendezcampos@hotmail.com
Javier Melendez-Campos
Affiliation:
Department of Engineering and Technology, Universidad La Salle Noroeste, Cd. Obregón, México Emails: daniel.smp@outlook.com, raul.sdm@outlook.com, jmelendezcampos@hotmail.com
Aldo Augusto López-Martínez
Affiliation:
Department of Automated Systems, CIDESI, Querétaro, México E-mail: aldo.lopez@cidesi.edu.mx
*
*Corresponding author. E-mail: ejimenezl@msn.com
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Summary

This paper presents a novel method for modeling a 3-degree of freedom open kinematic chain using quaternions algebra and neural network to solve the inverse kinematic problem. The structure of the network was composed of 3 hidden layers with 25 neurons per layer and 1 output layer. The network was trained using the Bayesian regularization backpropagation. The inverse kinematic problem was modeled as a system of six nonlinear equations and six unknowns. Finally, both models were tested using a straight path to compare the results between the Newton–Raphson method and the network training.

Keywords

Inverse kinematicRobotNeural networkQuaternions
Type
Article
Information
Robotica , Volume 39 , Issue 7 , July 2021 , pp. 1230 - 1250
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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