A study of neural network based inverse kinematics solution for a three-joint robot

Köker R., Öz C., Çakar T., Ekiz H.

Robotics and Autonomous Systems, vol.49, no.3-4, pp.227-234, 2004 (SCI-Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 49 Issue: 3-4
  • Publication Date: 2004
  • Doi Number: 10.1016/j.robot.2004.09.010
  • Journal Name: Robotics and Autonomous Systems
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.227-234
  • Keywords: Artificial neural networks, Inverse kinematics solution, Robotics
  • Istanbul Gelisim University Affiliated: No


A neural network based inverse kinematics solution of a robotic manipulator is presented in this paper. Inverse kinematics problem is generally more complex for robotic manipulators. Many traditional solutions such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. In this study, a three-joint robotic manipulator simulation software, developed in our previous studies, is used. Firstly, we have generated many initial and final points in the work volume of the robotic manipulator by using cubic trajectory planning. Then, all of the angles according to the real-world coordinates (x, y, z) are recorded in a file named as training set of neural network. Lastly, we have used a designed neural network to solve the inverse kinematics problem. The designed neural network has given the correct angles according to the given (x, y, z) cartesian coordinates. The online working feature of neural network makes it very successful and popular in this solution. © 2004 Elsevier B.V. All rights reserved.