This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the appl

ي لا ماق ثحبلا فادهأ قيقحتلو ثحبلا ةنيعل نايبتسا ءارجاو فراصملل ةيلاملا مئاوقلا ليلحتب ثحاب اهمهأ ناك تاجاتنتسا ىلإ ثحابلا لصوت دقو لإ صاخ معد دوجو مدع نم ةيفرصملا رطاخملا ةراد ةروصب اهدوجو مدعو فراصملل ةماعلا تارادلاا يف اهدوجو رصتقي ثيح ،ايلعلا تاهجلا لبق نم ديزي امم ،عورفلا يف ةلاعف مدع ةجيتن عورفلا نم ةدلوتملاو فراصملا اههجاوت يتلا رطاخملا اهمهأ ناك تايصوت ىلإ ثحابلا لصوت دقو امك ،ةيفرصملا تلاماعم

Science is consider one of the most honorable want of man and the best thing the man desire and the most good fruit for that its honor make benefit for the student, science is the base of every thing and the spring of civilization, where how man can advance in his / her life without hard seeking for science, so I chose this subject because seeking science is consider one of the matters that took great care in Islamic society for its advantages in making science, civilized, and economical development. By science nations advance and achieve all of their desires of freedom and make benefit of times by using their talents in the field they excele in and which head to get all of their rights in gainings and individuals getting the fruits of t

المُستلخص:

      يتناول هذا البحث موضوعاً يتركز في جانب تحديد مفهوم ومحتوى الإستراتيجية. وقد أشارت الأدبيات إلى عدد من المحاولات التي هدفت إلى تلمس مفهوم ومحتوى الإستراتيجية في منظمات الأعمال، غير أن تلك المحاولات- على الرغم من ندرتها- كانت تتسم بغلبة الأطر النظرية والتعبير عن المفهوم، بالإستناد إلى حوارات فكرية وإرهاصات ذات علاقة بمفهوم ومحتوى الإستراتيجية.

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The United States has stood by Iraq and supported militarily and morally, but the relationship did not quickly be strained again before August 1990, when the oldest former political system in Iraq after Iraqi troops entered the territory of Kuwait, the United States stood beside Kuwait because the two parties link military ties opted States United to support the Kuwaiti side relying on the resolutions passed by the UN security Council, the United States and found in this issue right opportunity to execute the mechanics of meddling in Iraqi affairs and the various means of political, economic, military, and methods for dealing with Iraq, especially after finding the impediment standing in front of the implementation of its goals The strat

Receipt date: 12/28/2020 accepted date: 20/1/2021 Publication date: 12/31/2021

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Russia has emerged as a rising and influential power in the international arena, especially with Vladimir Putin's assumption of power and his desire for the rise of Russia and the end of the "unipolarism" represented by the hegemony of the United States of

This research aims to address the most recent international standard in the field of insurance contracts, the International Financial Reporting Standard (IFRS17) and the theoretical framework of the standard in addition to the most important characteristics of the standard (IFRS17), as well as to identify the paragraphs of the modern standard, with the challenges its application in general and the use of the approach (inputs - operations - outputs) to present the challenges of its application in the Iraqi environment and specifically in the environment of Iraqi insurance sector companies (government), the research is based on the main premise that the identification of the requirements for the application of the International Fin

The political participation of the Iraqi woman, gains a big importance equivalent to its role in all other fields. Therefore , it represents a higher value in the democratic orientation in addition to the importance of rising the reality of the woman specifically in the fields that are considered as a scale of the human development like the income, health, and education . The weakness of womenʹs political participation, is something that can't be ignored or neglected if we are looking forward to the rising of the country᾽s reality and achieving the required development in its all aspects. The woman is half of society or more than that due to the burden of raising the generations tasks. This can be achieved by taking part in th

I dealt with this study of one of the hadiths of the Prophet and judged him after studying his deed, especially one of his narrations for the similarity in his name and the name of his father (Abdul Rahman bin Ishaq) Is he a civil "Sadok" or Wasti "weak" and they are in one layer which is called in the science of Hadith (agreed And after a review of Kutkut translations and wound and amendment and other evidence and evidence that it was "weak" and not as he went to him and asserted by the updated Muhammad Nasser al-Din al-Albani may God have mercy on him that in Sindh is a civil rule for the hadeeth "Hassan" and not as said The hadeeth is “weak” because he showed that it is the weak Wasti.
I ask God to be successful in this work an