Date of Award

Spring 1990

Document Type


Degree Name

Master of Science in Electrical Engineering - (M.S.)


Electrical and Computer Engineering

First Advisor

Edwin Hou

Second Advisor

Anthony D. Robbi

Third Advisor

Nirwan Ansari


A redundant manipulator can be defined as a manipulator that has more degrees of freedom than necessary to determine the position and orientation of the end effector. Such a manipulator has dexterity, flexibility, and the ability to maneuver in presence of obstacles. One important and necessary step in utilizing a redundant robot is to relate the joint coordinates of the manipulator with the position and orientation of the end-effector. This specification is termed as the direct kinematics problem and can be written as x = f(q)
where x is a vector representing the position and orientation of the end-effector, q is the Joint vector, and f is a continuous non-linear function defined by the design of the manipulator. The inverse kinematics problem can be stated as: Given a position and orientation of the end-effector, determine the joint vector that specifies this position a q = f -1(x).
and orientation. That is, For non-trivial designs, f -1 cannot be expressed analytically. This paper presents a solution to the inverse kinematics problem for a redundant robot based on multilayer feed-forward artificial neural network.