KINEMATIC CIRCUITS TRAJECTORY PLANNING USING A NEURAL NETWORK FOR SOLVING THE INVERSED KINEMATICS SUBTASK
Abstract
The possibility of using a pretrained artificial neural network in the problem of planning the trajectory of the executive kinematics chain for solving the inverse kinematics problem at the nodal points of the trajectory is investigated. The questions of approximation and the form of polynomials for sections of the executive kinematics chain motion trajectory; formation of a training sample of an artificial neural network to solve the inverse problem of kinematics; modelling the movement of the executive kinematics chain and determining the laws of change of generalized coordinates, velocities and accelerations in the implementation of a given trajectory are considered.
About the Authors
S. K. Shulgin
Federal State Budgetary Educational Institution of Higher Education «Luhansk Vladimir Dahl State University»
Russian Federation
Russian Federation
Shulgin S.K. - candidate of technical sciences, associate professor
D. O. Sinepolsky
Federal State Budgetary Educational Institution of Higher Education «Luhansk Vladimir Dahl State University»
Russian Federation
Russian Federation
Sinepolsky D.O. - Senior Lecturer
V. A. Yurkov
Federal State Budgetary Educational Institution of Higher Education «Luhansk Vladimir Dahl State University»
Russian Federation
Russian Federation
Yurkov V.A. - Senior Lecturer
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Review
For citations:
Shulgin S.K., Sinepolsky D.O., Yurkov V.A. KINEMATIC CIRCUITS TRAJECTORY PLANNING USING A NEURAL NETWORK FOR SOLVING THE INVERSED KINEMATICS SUBTASK. Social-economic and technical systems: research, design and optimization. 2023;(2):131-138. (In Russ.)
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