Contents

Acknowledgement i
Abstract ii
List of Figures iii
List of Tables iv
List of Abbreviations v

1. INTRODUCTION

1.1 Introduction 1
1.2 Robots: Evolution and Present Status 2
1.3 Classification of Robots 3

1.3.1 Classification by degree of freedom and kinematic characteristics 3

1.3.2 Classification by kinematic structure 5

1.3.3 Classification by drive technology 5

1.3.4 Classification by workspace 6

1.3.5 Classification by motion characteristics 8

1.4 General Configuration of Industrial Robots 9

1.4.1 Cartesian robot 9

1.4.2 Cylindrical robot 10
1.4.3 Polar or spherical robot 11
1.4.4 Revolute robot 12
1.4.5 SCARA robot
1.5 Robot Kinematics 14
1.6 Objective of the Research 21
1.7 Organization of Thesis 21
1.8 Summary 22

2. LITERTURE SURVEY 23

2.1 Introduction 23

2.2 Manipulator Kinematics and Inverse Kinematics 23

2.3 Neural Network based kinematic manipulators 26

2.4 Summary 30

3. PROBLEM STATEMENTS 31
3.1 Methodology 32

3.2 Direct kinematics 33

3.3 Inverse kinematics 33

3.4 Background of the work 36

3.5 Objective of the thesis 36
3.6 Summary 37

4 ARTIFICIAL NEURAL NETWORK 38

4.1 Introduction 38
4.2 Neural Network Architecture 39
4.3 ANN approaches to the inverse kinematics solution 40
4.4 SUMMARY 43

5. Result and Discussion 44

5.1 Introduction 44
5.2 Simulation Curve 47
6. Conclusion 53
7. Reference 54