scholarly journals Performance Evaluation of the Various Training Algorithms and Network Topologies in a Neural-Network-Based Inverse Kinematics Solution for Robots

10.5772/58562 ◽  
2014 ◽  
Vol 11 (4) ◽  
pp. 64 ◽  
Author(s):  
Yavuz Sari
Keyword(s):  
Neural Network ◽  
Performance Evaluation ◽  
Inverse Kinematics ◽  
Training Algorithms ◽  
Network Topologies

Obstacle avoidance inverse kinematics solution of redundant robots by neural networks

Robotica ◽  
1997 ◽  
Vol 15 (1) ◽  
pp. 3-10 ◽  
Author(s):  
Ziqiang Mao ◽  
T. C. Hsia
Keyword(s):  
Neural Network ◽  
Obstacle Avoidance ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Solution Technique ◽  
Training Algorithms ◽  
Neural Network Approach ◽  
Work Space ◽  
The Neural Network ◽  
Free Case

This paper investigates the neural network approach to solve the inverse kinematics problem of redundant robot manipulators in an environment with obstacles. The solution technique proposed requires only the knowledge of the robot forward kinematics functions and the neural network is trained in the inverse modeling manner. Training algorithms for both the obstacle free case and the obstacle avoidance case are developed. For the obstacle free case, sample points can be selected in the work space as training patterns for the neural network. For the obstacle avoidance case, the training algorithm is augmented with a distance penalty function. A ball-covering object modeling technique is employed to calculate the distances between the robot links and the objects in the work space. It is shown that this technique is very computationally efficient. Extensive simulation results are presented to illustrate the success of the proposed solution schemes. Experimental results performed on a PUMA 560 robot manipulator is also presented.

Research on Performance Evaluation of Finance Transportation Projects Based on Fuzzy Neural Network

2014 ◽  
Vol 667 ◽  
pp. 60-63
Author(s):  
Wei Guo ◽  
Zhen Ji Zhang
Keyword(s):  
Neural Network ◽  
Performance Evaluation ◽  
Set Theory ◽  
Evaluation System ◽  
Fuzzy Neural Network ◽  
Expert Knowledge ◽  
Highway Projects ◽  
Performance Evaluation System ◽  
Transportation Projects ◽  
Fuzzy Neural

A performance evaluation system of finance transportation projects is mainly researched, in which the sub-module of the highway projects evaluation, waterway projects evaluation, Passenger stations projects evaluation, Energy saving projects evaluation are incorporated. In addition, the expert knowledge are inserted in the system, the multi-layer neural network and fuzzy-set theory are used to implement Performance Evaluation system of Finance invest Transportation Projects, and the feasibility and effectiveness of the evaluation system are finally verified by practice.

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