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Whatizit?\n**Kinann** is a Javascript library for building, training and using \nartificial neural networks (ANNs) that model real world kinematic errors.\n\n### Overview\nKinematic models for robots rarely match their implementations--axes may\nbe slightly misallgned, part dimensions may differ from nominal, etc.\nTo handle real world conditions, kinematic models are often extended \nto include error parameters. Unfortunately, the resulting kinematic models\nare often cumbersome and unwieldy to work with.\n\nKinann lets you create an artificial neural network (ANN) that bridges\nthe gap between a simple, ideal kinematic model and any given implementation\nof that kinematic model. Kinann will handle all the error corrections\nautomatically after proper calibration and training. Kinaan doesn't actually\nneed to know the precise kinematics of your model--all it does is model\nthe mismatch between ideal and actual coordinates. As long as your robot\nis precise, Kinann will make sure that your robot moves accurately to\napplication coordinates:\n\n   `IdealKinematics` + `Kinann` = `CalibratedRobot`\n\nKinann kinematic error regression ANNs can be linear or even polynomial.\nLinear Kinann networks are often sufficient for Cartesian kinematics. However,\nyou will need polynomial Kinann networks to deal with non-linear kinematics.\nFor example, rotary delta kinematic errors often manifest as \"bowl-shaped Z-plane errors\".\n\nKinann is designed for building kinematic neural networks for Javascript robot applications. \nAlthough there are many neural network frameworks \n(e.g., [synaptic.js](http://caza.la/synaptic/#/), \n[Tensorflow](https://www.tensorflow.org/), etc.) that can be used to solve\nthe kinematic error challenge, Kinann is optimized for kinematic modeling.\nKinann should not be used to recognize cat pictures on YouTube.\n\n### Installation\nUse `npm` to install kinann.\n\n`npm install kinann`\n\n\n### See Also\n\n* [Kinann wiki...](https://github.com/firepick/kinann/wiki)\n* [mathjs](http://mathjs.org) many thanks to MathJS for expression parsing and derivatives!\n\n","maintainers":[{"name":"firepick","email":"karl@firepick.org"}],"time":{"modified":"2022-06-19T08:45:02.525Z","created":"2017-02-18T03:23:53.102Z","0.1.1":"2017-02-18T03:23:53.102Z","0.1.2":"2017-02-18T03:24:57.221Z","0.1.3":"2017-02-20T20:58:33.842Z","0.1.4":"2017-02-20T21:01:16.074Z","0.1.5":"2017-02-20T21:04:38.825Z","0.1.6":"2017-02-20T21:06:50.453Z","0.1.7":"2017-02-21T17:39:28.139Z","0.2.1":"2017-03-08T05:28:11.265Z","0.3.1":"2017-03-30T16:16:19.678Z","0.3.2":"2017-03-30T18:18:51.643Z","0.3.3":"2017-04-01T02:39:47.851Z","0.3.4":"2017-04-01T14:15:32.973Z","0.3.5":"2017-04-02T00:13:30.552Z","0.3.6":"2017-04-02T00:14:34.752Z","0.3.7":"2017-05-19T04:15:30.292Z","0.3.8":"2017-06-03T01:40:00.517Z","0.3.9":"2017-06-03T05:21:21.890Z","0.3.10":"2017-06-04T03:10:36.768Z","0.3.11":"2017-06-04T03:50:58.189Z","0.3.12":"2017-06-04T04:54:26.053Z","0.3.13":"2017-06-04T14:00:49.898Z","0.4.0":"2017-06-09T12:41:52.989Z","0.4.1":"2017-06-09T15:09:08.648Z","0.4.2":"2017-06-09T15:12:10.260Z","0.5.0":"2017-06-10T18:36:50.582Z","0.5.1":"2017-06-10T19:20:02.895Z","0.5.2":"2017-06-10T19:36:13.833Z","0.5.3":"2017-06-18T21:28:19.803Z","0.5.4":"2017-06-20T03:23:22.857Z","0.5.5":"2017-06-20T22:21:38.221Z","0.5.6":"2017-06-21T04:14:38.177Z","0.5.7":"2017-06-22T22:13:20.278Z","0.5.8":"2017-06-23T00:36:20.887Z","0.5.9":"2017-06-23T13:33:40.474Z","0.5.10":"2017-06-23T14:36:49.262Z","0.6.0":"2017-06-24T15:34:21.784Z","0.7.0":"2017-06-24T23:17:39.676Z","0.8.0":"2017-06-25T15:00:37.503Z","0.8.1":"2017-06-26T20:33:31.665Z","0.8.2":"2017-07-03T14:39:44.195Z","0.8.3":"2017-07-24T14:27:17.459Z","0.9.0":"2017-07-24T14:33:59.115Z"},"homepage":"https://github.com/firepick/kinann","keywords":["kinematics","robot","artifical","neural","networks","FirePick","firenodejs"],"repository":{"type":"git","url":"git+https://github.com/firepick/kinann.git"},"author":{"name":"Karl Lew"},"bugs":{"url":"https://github.com/firepick/kinann/issues"},"license":"MIT","readmeFilename":"README.md"}