(1) Faculty of Engineering, University of Regina, Regina, Saskatchewan, S4S0A2, Canada
Abstract:
In this article an Artificial Neural Network (ANN) approach for fast inverse kinematics computation and effective singularities
prevention of redundant robot manipulators is presented. The approach is based on establishing some characterizing matrices,
representing some geometrical concepts, in order to yield a simple performance index and a null space vector for singularities
avoidance/prevention and safe path generation. Here, this null space vector is computed using a properly trained ANN and included
in the computation of the inverse kinematics being performed also by another properly trained ANN.