Laercio R. Filho

Deep Neural Networks for Inverse Kinematics With Multi-Valued Solution Spaces: Limitations and Hybrid Learning––Optimization Approach

This paper investigates the use of deep neural networks (DNNs) for solving inverse kinematics problems exhibiting multiple valid joint-space solutions. A synthetic dataset is generated from the forward kinematics of the ABB IRB120 manipulator, with end-effector orientation represented using unit quaternions, and a DNN...