Proceedings of the Second International Conference on Machine Learning and Cybernetics, Wan, 2-5 November 2003

A NEW SOLUTION FOR INVERSE KINEMATICS OF MANIPULATOR

BASED ON NEURAL NETWORK
LI-XIN WEI', HONGRUI WANG', YING LI'

'Institute of Electronic Engineering Yanshan University, Qinhuangdao 066004, China

'Institute of Electronic and Communication Engineering, Hebei U&versity,Baoding 071002, China
E-MAIL: wIxZOOO@ysu.edu.cn

Abstract:
This paper deals with the inverse kinematics problem of
manipulator. Based on ANFIS (Adaptive Neural Fuvy
Inference System) neural network, the inverse kinematics
solution of manipulator is set up. Simulation results indicate
that this method has the advantage of faster learning rate,
higher identifying precision and better real-time ability.
Therefore, a new way for solving the inverse kinematics of
manipulator i s provided.
Key words:
ANFIS; Inverse Kinematics of Manipulator; Computer
Simulation
1 Introduction
Manipulator kinematics is to research the motion and
control characteristic of mechanical arm for robot ['I. As a
rule, people often use Descartesian coordinates to give a
description of the state vector in workspace, such as
displacement and velocity in plane coordinate, etc.
However, the control of manipulator is realized through
adjusting every angle joint of mechanical arm,and thus the
angle and the angular velocity among the arm joints make
up another description for given motion. In search of
position and motion direction of manipulator in
Descartesian coordinates, given a set of angle among the
arm joints, is called as direct kinematics problem, and on
the other hand, to control the motion of manipulator, on
condition that the manipulator trajectory has been known,
solving the corresponding angle problem among arm joints
is called as inverse kinematics prohlemlZ1.
The inverse kinematics problem of manipulator is very
important in robot kinematics and control. But for the self
complexity, it is hard to set up a universal algorithm. In the
paper we will use ANFIS neural network to realize the
inverse kinematics solving problem of manipulator, which
can overcome the disadvantage of huge amount of
calculation and poor real-time property of conventional
algorithm, etc.
2 Inverse kinematics of manipulator
Consider an n-degree of freedom manipulator. At any
time, the relation between the state vector of joint angle
8(t)=[B,(t),8, (t),...,8n(t)]T and the position state
vector of manipulator x ( t ) = [ x l ( t ) , x 2( t ),...,x m ( f ) l T is
given by
x = f (8) (1)
Usually, this kind of manipulator kinematics equation
is regarded as nonlinear transcendental equation, and it
can't determine the analytical solution directly from (1).
While the numerical solution can be achieved only by
iterative method, in this way the control velocity of
manipulator reduces greatly. In order to get over the
difficulty, the inverse solution in common use is to set up a
differential movement relation between the position state
vector and joint state vector so as to determine the joint
velocity that is necessary to motion vector of manipulator.
Differentiate on equation (1) both sides, it becomes
x =J(8(t)p(t) (2)
where J(B)=af/ae is Jacobian matrix of
manipulator kinematics equation, J ( 8 ) E R"""
So, from one motion trajectory x ( t ) that layout in
advance or its velocity i ( t ) , we can compute the
corresponding joint angle vector 8(t) or its angular
velocity 8 ( t ) and realize an effective control on
manipulator, i.e., the corresponding joint velocity for given
i ( t ) is in the following manner
8(t)= J'(s(t))x(t) (3)
in which J ' ( 8 ) = JT(8)[J(8)JT(8)]-1is pseudo
inverse matrix of Jacobian matrix. Commonly, the solution
for equation (3) is known as pseudo-inverse solution of
joint velocity. For irredundant robots, we have

0-7803-7865-2/03/$17.00 02003 IEEE

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 Proceedmgs of the Second International Conference on Machine Learning and Cybernetics, Wan, 2-5 November 2003
J + ( @ ) = J - ' ( @ ), and for redundancy robots, the
pseudo-inverse solution is just the least norm solution of
joint state velocity.
3 Structure and theory of ANFIS neural network
.ANFIS is a kind of configuration equivalent
connection of fuzzy system and neural network. That is to
say, fuzzy system can be expressed by an equivalent
configuration neural network, which both nodes and
parameters have certain meaning and corresponding to the
membership function or the inference process of fuzzy
system.
The system is a fuzzy inference system used to realize
a Takagi-Sugeno model based on adaptive neural network.
The fuzzy inference system of Takagi-Sugeno model adopts
the following rule: If x I is Ail and x 2 is Ai, , then
Y= >i2).
The condition part of rule is fuzzy, but the conclusion
part is often a quantificational linear function, i.e.,
J . ( x l , x 2 ) = a i x 1+bix2 + c i (4)
Using weight average method, t we get the output of
fuzzy inference
i=l I i=l
The ANFIS neural network structure with two inputs
and one output is shown in Figure 1.
As seen in figure 1, the square nodes have parameter
variables and the circular nodes are fmed nodes without
parameter variables. For existential adjustable parameters,
the whole network is referred to as adaptive neural
network.. The meanings of nodes in each lay are as follows:
layer I rayer 2 layer 3 layer 4 rayer 5
1 ~ 11 1 1
Figure.1 ANFIS neural network structure with
two inputs and one output
Layer 1: Each square node i denotes the
membership function of fuzzy system
1202
Ot! = PA,
Layer 2: Each circular node i completes the fuzzy
operator computation of fuzzy system (herein use product
operator)
(i = 1,2)
mi = P A (X)PUa,( Y )
Layer 3: Each square node i completes the scale
conversion of fuzzy rule's fitness value
0, = q / ( q+ w 2 ) (i = 1,2)
Layer 4 Each square node i denotes the following
function
0;' = q f=iq ( p i x + q i y + r i )
Layer 5 : The node completes the nonfuzzification
process of fuzzy system (herein use weight average
method)
Here, a hybrid-learning algorithm that combined LSM
(Least Square Method) with gradient descent method, in
general, is used to adjust the parameters of member
function and rule conclusion in network.
After introducing ANFIS neural network to the inverse
kinematics problem of manipulator, the neural network
JG$,
control system constructed is shown in Figure 2.
m
xd/T ANFlS Manipulator
Figure.2 The control structure of ANFIS neural network
The control process is: every other time T ,there will
produce a sampling input vector i d and an arm state f ,
accordingly, adjust the parameter weight value of network
until the objective function least. Then the joint angle
vector 0 can be obtained by integral on the final
equilibrium state and applied to the accurate control of arm.
The obiective function of network is given bv
where id is the velocity vector of disired state
vector xd of manipulator in the Descartesian coordinates;
x is the velocity vector of actual state vector, 11
I2
l
represents the vector 2-norm.
 Proceedings of the Second International Conference on Machine Learning and Cybernetics,Wan, 2-5 November 2003
4 Identification results for inverse kinematics mode
of manipulator
In order to validate effectiveness of the method
discussed above, a simulation experiment on a 2-degree of
freedom manipulator is carried out. Here, the joint angle
vector is e =[e, e2y , the terminal position vector is
x = [x, y y .
The direct kinematics equation for 2-degree of
freedom manipulator is
= I, cos(e, ) + I,cos(e, +e,) ,
y = I, sin(0,) + I, sin(8, + 02).
The aim of this experiment is to finish the task of
drawing a circle for end effector in the first quartile of x-y
plane. The expected position vector x, y are expressed by
x = a *sin f + x o
y = a *cost + yo
the coordinate of centre of a circle is ( x o , y o ) and
theradiusis a .
0 Procedure For Manipulator Inverse Kinematics
0 0.5 1 1.5
Fig.3 The result of effectortrajectory
-1 I Neural Network. The journal of changsha electric
Fig.4 The result of effector trajectory
Figure 3 is the simulation curve using neural network,
which chain line represents the desired position: the
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coordinate of the center of a circle is (0.8,0.8) and the
radius is 0.4. As we can see, the simulation curve accords
with the desire trajectory very well. The total simulation
process only needs 54s ~ d . t h esimulation precision has
attained 0.2rad. Figure 4 is the simulation curve, which the
coordinate of the desired center of a circle is (1,l) and the
radius is still 0.4. But for the limit of reachable ‘workspace
of manipulator, the effector can’t reach the desired position.
From the above simulation curves, it can be easily seen that
the ANFIS neural network constructed in this paper realizes
the inverse kinematics solution o f . manipulator with
satisfaction, and both the identification precision and
velocity well attained performance index. It is provided a
new way to solve the inverse kinematics problem of
manipulator.
5 Conclusion
In this paper, an ANFIS neural network has been used
to solve the problem of manipulator kinematics and a
neural network control system is constructed. Compared to
conventional number value method, simulation results
indicate that the method provides a simple algorithm and
faster learning as well as higher precision.
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