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ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2006, Vol. 7 Issue (4): 525-529    DOI: 10.1631/jzus.2006.A0525
Computer & Information Science     
Wavelet network solution for the inverse kinematics problem in robotic manipulator
Chen Hua, Chen Wei-shan, Xie Tao
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
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Abstract  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.

Key words： Inverse kinematics problem      Robotic manipulator      Wavelet network     
Received: 20 June 2005     
CLC:  TP242.2  
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Chen Hua
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Cite this article:

Chen Hua, Chen Wei-shan, Xie Tao. Wavelet network solution for the inverse kinematics problem in robotic manipulator. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2006, 7(4): 525-529.

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http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.2006.A0525     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2006/V7/I4/525

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