Hand-Eye Calibration and Inverse Kinematics of Robot Arm using Neural Network

Haiyan Wu, Walter Tizzano, Thomas Timm Andersen, Nils Axel Andersen, Ole Ravn

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Abstract

Traditional technologies for solving hand-eye calibration and inverse kinematics are cumbersome and time consuming due to the high nonlinearity in the models. An alternative to the traditional approaches is the articial neural network inspired by the remarkable abilities of the animals in dierent tasks. This paper describes the theory and implementation of neural networks for hand-eye calibration and inverse kinematics of a six degrees of freedom robot arm equipped with a stereo vision system. The feedforward neural network and the network training with error propagation algorithm are applied. The proposed approaches are
validated in experiments. The results indicate that the hand-eye calibration with simple neural network outperforms the conventional method. Meanwhile, the neural network exhibits a promising performance in solving inverse kinematics.
Original languageEnglish
Title of host publicationProceedings of RITA 2013
PublisherSpringer
Publication date2013
Pages581-591
ISBN (Print)9783319055817
DOIs
Publication statusPublished - 2013
EventRITA 2013: The 2nd International conference on Robot Technology and Appliactions - Colorado Convention Center , Denver, Colorado, United States
Duration: 18 Dec 201320 Dec 2013

Conference

ConferenceRITA 2013
LocationColorado Convention Center
CountryUnited States
CityDenver, Colorado
Period18/12/201320/12/2013

Keywords

  • Neural Network
  • Calibration
  • Inverse Kinematics
  • Robot Arm

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