Real time direct kinematic problem computation of the 3PRS robot using neural networks

In this work, a methodology that uses Artificial Neural Networks (ANNs) to approximate the DKP is proposed. Based on the 3PRS parallel robot, a comprehensive study is carried out in which several network configurations are proposed to approximate the DKP. Moreover, to demonstrate the effectiveness of the approach, the proposed networks are evaluated considering not only their approximation capabilities, but also their Real Time performance in comparison with the traditional iterative procedures used in robotics.