A feed-forward neural network learning the inverse kinetics of a soft cable-driven manipulator moving in three-dimensional space

In this work we address the inverse kinetics problem of a non-constant curvature manipulator driven by three cables. An exact geometrical model of this manipulator has been employed. The differential equations of the mechanical model are non-linear, therefore the analytical solutions are difficult to calculate. Since the exact solutions of the mechanical model are not available, the elements of the Jacobian matrix can not be calculated. To overcome intrinsic problems of the methods based on the Jacobian matrix, we propose for the first time a neural network learning the inverse kinetics of the soft manipulator moving in three-dimensional space. After the training, a feed-forward neural network (FNN) is able to represent the relation between the manipulator tip position and the forces applied to the cables. The results show that a desired tip position can be achieved with a degree of accuracy of 1.36% relative average error with respect to the total arm length.

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