Inverse estimation of joint angles of robot arm by network inversion
Nanae Sekiguchi, Takehiko Ogawa, Hajime Kanada · 2007
The inverse problems that estimate the cause from the results have been studied in the various engineering fields. The network inversion was proposed for solving inverse problems using a multilayer neural network. In this study, the network inversion is applied to the inverse estimation of the joint angles of the robot arm. The effectiveness of the proposed method is shown in the simulation of the three degree of freedom robot arm.