Neural network Bayesian regularization backpropagation to solve inverse kinematics on planar manipulator

Anik Nur Handayani; Nurani Lathifah; Heru Wahyu Herwanto; Rosa Andrie Asmara; Kohei Arai

doi:10.1109/ICIEV.2018.8640958

Neural network Bayesian regularization backpropagation to solve inverse kinematics on planar manipulator

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Anik Nur Handayani, Nurani Lathifah, Heru Wahyu Herwanto, Rosa Andrie Asmara, Kohei Arai

2018 2018 Joint 7th International Conference on Informatics, Electronics and Vision and 2nd International Conference on Imaging, Vision and Pattern Recognition, ICIEV-IVPR 2018 Conference paper Cited by 14

Abstract

Inverse kinematics is a behavior to find set joint angle value of the planar manipulator to reach end desire effector position. In this paper Bayesian regularization backpropagation training function is used to train neural network to produce the set of joint angle value to reach the desired position. Different architecture of the network also being tested to solve the inverse kinematics solution. A trainer planar manipulator used as a testbed of the proposed method. The robot performs nodes resembles square and triangle shape in its workspace based on neural network solution. The result shows the validity of the neural network solution to solve inverse kinematics of the planar manipulator. © 2018 IEEE.

Affiliations

Department of Electrical Engineering, Universitas Negeri Malang, Malang, Indonesia; Department of Information Technology, State Polytechnic of Malang, Malang, Indonesia; Department of Information Science, Saga University, Saga, Japan

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