Abstract:A neural network capable of solving the inverse kinematics of a four degree of freedom biologically inspired robotic cat leg (qualified as a serial linkage system) within its effective 3-D workspace is presented in this paper. The workspace consists of layers of similar but highly nonlinear cells whose vertices are associated with known kinematic variables provided by the robotic leg. The proposed neural network uses geometric properties coupled with the desired end effecter location as the neural network inpu… Show more
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