Inverse Kinematics Based on Fuzzy Logic and Neural Networks for the WAM-Titan II Teleoperation System

The inverse kinematic problem is crucial for robotics. In this paper, a solution algorithm is presented using artificial intelligence to improve the pseudo-inverse Jacobian calculation for the 7-DOF Whole Arm Manipulator (WAM) and 6-DOF Titan II teleoperation system. An investigation of the inverse kinematics based on fuzzy logic and artificial neural networks for the teleoperation system was undertaken. Various methods such as Adaptive Neural-Fuzzy Inference System (ANFIS), Genetic Algorithms (GA), Multilayer Perceptrons (MLP) Feedforward Networks, Radial Basis Function Networks (RBF) and Generalized Regression Neural Networks (GRNN) were tested and simulated using MATLAB. Each method for identification of the pseudo-inverse problem was tested, and the best method was selected from the simulation results and the error analysis. From the results, the Multilayer Perceptrons with Levenberg-Marquardt (MLP-LM) method had the smallest error and the fastest computation among the other methods. For the WAM-Titan II teleoperation system, the new inverse kinematics calculations for the Titan II were simulated and analyzed using MATLAB. Finally, extensive C code for the alternative algorithm was developed, and the inverse kinematics based on the artificial neural network with LM method is implemented in the real system. The maximum error of Cartesian position was 1.3 inches, and from several trajectories, 75 % of time implementation was achieved compared to the conventional method. Because fast performance of a real time system in the teleoperation is vital, these results show that the new inverse kinematics method based on the MLP-LM is very successful with the acceptable error

Inverse kinematics problem in robotics using neural networks

In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods

Solving Complex Geometry Kinematics Problem with Function Approximation by Artificial Neural Network

Neural networks have been widely deployed to solve classification and regression problems, and, in recent years, there has been much interest in using neural networks for solving complicated problems. In this paper, a hybrid manipulator kinematics is studied, and an artificial deep neural network is used to solve the inverse kinematics problem. The noise resistance benefit of neural networks approach is explored

Inverse Mappers for QCD Global Analysis

Inverse problems – using measured observations to determine unknown parameters – are well motivated but challenging in many scientific problems. Mapping parameters to observables is a well-posed problem with unique solutions, and therefore can be solved with differential equations or linear algebra solvers. However, the inverse problem requires backward mapping from observable to parameter space, which is often nonunique. Consequently, solving inverse problems is ill-posed and a far more challenging computational problem. Our motivated application in this dissertation is the inverse problems in nuclear physics that characterize the internal structure of the hadrons. We first present a machine learning framework called Variational Autoencoder Inverse Mapper (VAIM), as an autoencoder based neural network architecture to construct an effective “inverse function” that maps experimental data into QCFs. In addition to the well-known inverse problems challenges such as ill-posedness, an application specific issue is that the experimental data are observed on kinematics bins which are usually irregular and varying. To address this ill defined problem, we represent the observables together with their kinematics bins as an unstructured, high-dimensional point cloud. The point cloud representation is incorporated into the VAIM framework. Our new architecture point cloud-based VAIM (PCVAIM) enables the underlying deep neural networks to learn how the observables are distributed across kinematics. Next, we present our methods of extracting the leading twist Compton form factors (CFFs) from polarization observables. In this context, we extend VAIM framework to the Conditional -VAIM to extract the CFFs from the DVCS cross sections on several kinematics. Connected to this effort is a study of the effectiveness of incorporating physics knowledge into machine learning. We start this task by incorporating physics constraints to the forward problem of mapping the kinematics to the cross sections. First, we develop Physics Constrained Neural Networks (PCNNs) for Deeply Virtual Exclusive Scattering (DVCS) cross sections by integrating some of the physics laws such as the symmetry constraints of the cross sections. This provides us with an inception of incorporating physics rules into our inverse mappers which will one of the directions of our future research

An Intelligent System Approach to the Dynamic Hybrid Robot Control

The objective of this study was to solve the robot dynamic hybrid control problem using intelligent computational processes. In the course of problem- solving, biologically inspired models were used. This was because a robot can be seen as a physical intelligent system which interacts with the real world environment by means of its sensors and actuators. In the robot hybrid control method the neural networks, fuzzy logics and randomization strategies were used. To derive a complete intelligent state-of-the-art hybrid control system, several experiments were conducted in the study. Firstly an algorithm was formulated that can estimate the attracting basin boundary for a stable equilibrium point of a robot's kinematic nonlinear system. From this point the Artificial Neural Networks (ANN) based solution approach was verified for the inverse kinematics solution. Secondly, for the intelligent trajectory generation approach, the segmented tree neural networks for each link (inverse kinematics solution) and the randomness with fuzziness (coping the unstructured environment from the cost function) were used. A one-pass smoothing algorithm was used to generate a practical smooth trajectory path in near real time. Finally, for the hybrid control system the task was decomposed into several individual intelligent control agents, where the task space was split into the position-controlled subspaces, the force-controlled subspaces and the uncertain hyper plane identification subspaces. The problem was considered as a blind-tracking task by a human

Efficient Jacobian-Based Inverse Kinematics With Sim-to-Real Transfer of Soft Robots by Learning

This paper presents an efficient learning-based method to solve the inverse kinematic (IK) problem on soft robots with highly non-linear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of analytical formulation for either forward or inverse kinematics. To address this challenge, we employ neural networks to learn both the mapping function of forward kinematics and also the Jacobian of this function. As a result, Jacobian-based iteration can be applied to solve the IK problem. A sim-to-real training transfer strategy is conducted to make this approach more practical. We first generate a large number of samples in a simulation environment for learning both the kinematic and the Jacobian networks of a soft robot design. Thereafter, a sim-to-real layer of differentiable neurons is employed to map the results of simulation to the physical hardware, where this sim-to-real layer can be learned from a very limited number of training samples generated on the hardware. The effectiveness of our approach has been verified on pneumatic-driven soft robots for path following and interactive positioning

Computational neural learning formalisms for manipulator inverse kinematics

An efficient, adaptive neural learning paradigm for addressing the inverse kinematics of redundant manipulators is presented. The proposed methodology exploits the infinite local stability of terminal attractors - a new class of mathematical constructs which provide unique information processing capabilities to artificial neural systems. For robotic applications, synaptic elements of such networks can rapidly acquire the kinematic invariances embedded within the presented samples. Subsequently, joint-space configurations, required to follow arbitrary end-effector trajectories, can readily be computed. In a significant departure from prior neuromorphic learning algorithms, this methodology provides mechanisms for incorporating an in-training skew to handle kinematics and environmental constraints