Inverse Kinematics Beispiel Essay

 

In this paper, a neuro-genetic approach is proposed for the inverse kinematics problem solution of robotic manipulators. The proposed solution method is based on using neural networks and genetic algorithms in a hybrid system. Neural networks have been used by many researchers in the inverse kinematics solution. Since the neural networks work with an acceptable error, the error at the end of learning has to be minimized for sensitive applications. This study is based on using genetic algorithms to minimize this error. A case study is presented for a 6 degree of freedom robot. In the neural network part, three Elman networks are separately trained and then used in parallel since one Elman network may give better result than the other two ones. These three results are placed in the initial population of the genetic algorithm. The end effector position error is defined as the fitness function and genetic algorithm is implemented. Thus, the error is reduced in micrometer levels.

 

Key words: Elman neural networks, error minimization, six-degree-of-freedom robot, genetic algorithms, robotics.

Argumentative Essays in English

An essay is an argument which leads the reader from the beginning (introduction) to the end (conclusion.) It has to be objective and logical.

There are three parts:

  1. Introduction
  2. Arguments – Pros – Cons
  3. Conclusion

1. Introduction

  • Some people/children say/think ...
  • It's a fact that ...
  • You often hear people say ...
  • It is widely believed that ...

2. Arguments

  • First ...
  • Second ...
  • Another argument for/against ...
  • They argue that ... because ...
  • They claim that ...
  • They also say ...

3. Conclusion

  • I think that ...
  • My opinion is ... because ...
  • Looking at the arguments I would say ...

4. How do I start?

Before you start to write your argumentative essay, collect arguments and bring them in a logical order.

5. What steps are important?

5.1. Introduction

Start with an interesting beginning. Do not name arguments and do not make the introduction too long. You can include your own experience to the title of the essay.

5.2. Arguments

Arrange your arguments in a logical order. Put the most important argument at the end. Explain each argument. Do not make sentences too complicated.

5.3. Conclusion

Your personal conclusion should include your opinion, but can also be objective, depending on the title. Do not name new arguments. Look back over the argument in the essay and show the reader that you have reached an ending.


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