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

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