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Jamal Ghasemi

Jamal Ghasemi

Academic rank: Associate Professor
ORCID:
Education: PhD.
ScopusId:
Faculty: Faculty of Technology and Engineering
Address:
Phone: 01135302902

Research

Title
KINEMATIC SYNTHESIS OF PARALLEL MANIPULATOR VIA NEURAL NETWORK APPROACH
Type
JournalPaper
Keywords
Parallel Robot, Kinematics, Artificial Neural Network.
Year
2017
Journal international journal of engineering
DOI
Researchers Jamal Ghasemi ، Reza Moradinezhad ، - -

Abstract

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for specific trajectory, and used as inputs for the applied ANNs. The results of both applied networks (Multi-Layer Perceptron and Redial Basis Function) satisfied the required performance in solving complex inverse kinematics with proper accuracy and speed.