Artificial Neural Network Based Forward Kinematics Solution for Planar Parallel Manipulators Passing through Singular Configuration
Ammar H Elsheikh*, Ezzat A Showaib and Abd Elwahed M Asar
Department of Production Engineering and Mechanical Design, Faculty of Engineering, Tanta University, Tanta, Egypt10.4172/.1000107
- *Corresponding Author:
- Ammar H. Elsheikh
Department of Production Engineering and Mechanical Design
Faculty of Engineering, Tanta University, Tanta, Egypt
E-mail: [email protected]
Received June 30, 2013; Accepted September 18, 2013; Published September 20, 2013
Citation: Elsheikh AH, Showaib EA, Asar AE (2013) Artificial Neural Network Based Forward Kinematics Solution for Planar Parallel Manipulators Passing through Singular Configuration. Adv Robot Autom 2:106. doi: 10.4172/2168-9695.1000106
Copyright: © 2013 Elsheikh AH, et al. This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
It is well known that, the main drawback of parallel manipulators is the existence of singularities within its workspace, an Artificial Neural Network (ANN) based solution is proposed in this paper. The proposed approach can certainly learn the input-output data and discover the non-linear relationships which are inherent in the training data. Additionally, the proposed approach can provide solution of the forward kinematic problem with reasonable errors at and in the vicinity of kinematic singularities. The approach is implemented for the 3-RPR, 3-PRR, and 3-RRR planar parallel manipulators.