Real Time Parallel Robot Direct Kinematic Problem Computation Using Neural Networks

被引：0

作者：

Zubizarreta, Asier ^{[1
]}

Larrea, Mikel ^{[1
]}

Irigoyen, Eloy ^{[1
]}

Cabanes, Itziar ^{[1
]}

机构：

[1] Univ Basque Country, UPV EHU, Bilbao, Spain

来源：

10TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING MODELS IN INDUSTRIAL AND ENVIRONMENTAL APPLICATIONS | 2015年 / 368卷

关键词：

Parallel robots; Direct kinematic problem; Artificial neural network; MANIPULATORS; PLATFORM; FORM;

D O I：

10.1007/978-3-319-19719-7_25

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The calculation of the Direct Kinematic Problem (DKP) is one of the main issues in real-world applications of Parallel Robots, as iterative procedures have to be applied to compute the pose of the robot. Being this issue critical to robot Real-Time control, in this work a methodology to use Artificial Neural Networks to approximate the DKP is proposed and a comprehensive study is carried out to demonstrate experimentally the Real-Time performance benefits of the approach in a 3PRS parallel robot.

引用

页码：285 / 295

页数：11

共 50 条

[11] Forward Kinematic Analysis of Spatial Parallel Robots Using a Parallel Evolutionary Neural Networks
Fazeleh Tavassolian
Hassan Khotanlou
Payam Varshovi-Jaghargh
Iranian Journal of Science and Technology, Transactions of Mechanical Engineering, 2023, 47 : 1079 - 1092
[12] Delay dependent stability in the real time control of a mobile robot using neural networks
Chaitanya, V. Sree Krishna
Patro, P. Dwarikanath
Sarkar, Prabir Kumar
2007 INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, 2007, : 41 - +
[13] Towards Real-Time Robot Simulation on Uneven Terrain Using Neural Networks
Cook, Daniel
Vardy, Andrew
2017 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), 2017, : 1688 - 1695
[14] REAL-TIME CONTROL OF ROBOT MANIPULATORS BY NEURAL NETWORKS
LI, YT
JIANG, YS
INTEGRATED COMPUTER-AIDED ENGINEERING, 1995, 2 (03) : 241 - 248
[15] Real-time computation at the edge of chaos in recurrent neural networks
Bertschinger, N
Natschläger, T
NEURAL COMPUTATION, 2004, 16 (07) : 1413 - 1436
[16] Direct kinematic problem based on RBFNN of parallel manipulator
Song, Wei-Gang
Zhang, Guo-Wei
Dongbei Daxue Xuebao/Journal of Northeastern University, 2004, 25 (04): : 386 - 389
[17] Calibration of Kinematic Parameters of a Robot Using Neural Networks by a Laser Tracking System
Kohama, Atsushi
Mori, Ryosuke
Komai, Sho
Suzuki, Masato
Aoyagi, Seiji
Fujioka, Jun
Kamiya, Yoshitsugu
SERVICE ROBOTICS AND MECHATRONICS, 2010, : 269 - +
[18] Kinematic Modeling of a Miniaturized Configurable Parallel Robot with Soft Joints for Real-Time Control
Leveziel, Maxence
Laurent, Guillaume J.
Gauthier, Michael
Dahmouche, Redwan
7TH INTERNATIONAL CONFERENCE ON MANIPULATION, AUTOMATION, AND ROBOTICS AT SMALL SCALES, MARSS 2024, 2024, : 96 - +
[19] Direct kinematics of a double parallel robot arm for real time velocity control
Lee, MK
Park, KW
KSME INTERNATIONAL JOURNAL, 1998, 12 (04): : 525 - 535
[20] Direct kinematics of a double parallel robot arm for real time velocity control
Min Ki Lee
Kun Woo Park
KSME International Journal, 1998, 12 : 525 - 535

← 1 2 3 4 5 →