Eric M. Rosales

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SUMMARY For robotic manipulators that are redundant or with high degrees of freedom (dof), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first(More)
— Inverse kinematics computation using an artificial neural network that learns the inverse kinematics of a robot arm has been employed by many researchers. However, the inverse kinematics system of typical robot arms with joint limits is a multi-valued and discontinuous function. Since it is difficult for a well-known multi-layer neural network to(More)
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