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
收藏
页码：285 / 295
页数：11
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