TY - GEN
T1 - Intelligent systems based solutions for the kinematics problem of the industrial robot arms
AU - Sariyildiz, Emre
AU - Ucak, Kemal
AU - Ohnishi, Kouhei
AU - Oke, Gulay
AU - Temeltas, Hakan
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - In this paper, three intelligent system methods namely Artificial Neural Network (ANN), Support Vector Machine (SVM) and Adaptive Neuro Fuzzy Inference Systems (ANFIS), are implemented to solve the inverse kinematics problem of the industrial robot arms. The main advantages of the intelligent system based solutions in the robot kinematics are that they can be easily implemented in analysis of complex mechanisms and their solutions do not suffer by the singularity that is one of the fundamental problems of inverse kinematics. The screw theory and quaternion algebra based kinematic model is used to improve the model efficiency by decreasing the computational complexity and load. The kinematics problem of the Staubli TX-60L industrial robot arm is analyzed by using the proposed intelligent system based solutions and simulation results are given.
AB - In this paper, three intelligent system methods namely Artificial Neural Network (ANN), Support Vector Machine (SVM) and Adaptive Neuro Fuzzy Inference Systems (ANFIS), are implemented to solve the inverse kinematics problem of the industrial robot arms. The main advantages of the intelligent system based solutions in the robot kinematics are that they can be easily implemented in analysis of complex mechanisms and their solutions do not suffer by the singularity that is one of the fundamental problems of inverse kinematics. The screw theory and quaternion algebra based kinematic model is used to improve the model efficiency by decreasing the computational complexity and load. The kinematics problem of the Staubli TX-60L industrial robot arm is analyzed by using the proposed intelligent system based solutions and simulation results are given.
KW - ANFIS
KW - Artificial Neural Networks
KW - Redundancy
KW - Robot Arm
KW - Singularity
KW - Support Vector Machine
KW - Trajectory Tracking
UR - http://www.scopus.com/inward/record.url?scp=84886463809&partnerID=8YFLogxK
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U2 - 10.1109/ASCC.2013.6606306
DO - 10.1109/ASCC.2013.6606306
M3 - Conference contribution
AN - SCOPUS:84886463809
SN - 9781467357692
T3 - 2013 9th Asian Control Conference, ASCC 2013
BT - 2013 9th Asian Control Conference, ASCC 2013
T2 - 2013 9th Asian Control Conference, ASCC 2013
Y2 - 23 June 2013 through 26 June 2013
ER -