Wavelet network solution for the inverse kinematics problem in robotic manipulator

Wavelet network, a class of neural network consisting of wavelets, is proposed to solve the inverse kinematics problem in robotic manipulator. A wavelet network suitable for dealing with multi-input and multi-output system is constructed. The network is optimized by reducing the number of wavelets handling large dimension problem according to the sample data. The algorithms for sparseness analysis of input data and fitting wavelets to the output data with orthogonal method are introduced. Then Levenberg-Marquardt algorithm is used to train the network. Simulation results showed that this method is capable of solving the inverse kinematics problem for PUMA560.