Abstract-We propose a technique to speedup the learning of the inverse kinematics of a robot manipulator by decomposing it into two or more virtual robot arms. Unlike previous decomposition approaches, this one does not place any requirement on the robot architecture, and thus, it is completely general. Parametrized self-organizing maps are particularly adequate for this type of learning, and permit comparing results directly obtained and through the decomposition. Experimentation shows that time reductions of up to two orders of magnitude are easily attained.
Robot manipulator can be decomposed into two or more virtual robot arms to speed up the learning of the inverse kinematics REF .
Learning Inverse Kinematics: Reduced Sampling Through Decomposition Into Virtual Robots
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)
Computer Science Medicine