Intelligent systems based solutions for the kinematics problem of the industrial robot arms

Emre Sariyildiz, Kemal Ucak, Kouhei Ohnishi, Gulay Oke, Hakan Temeltas

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 9th Asian Control Conference, ASCC 2013
DOI
出版ステータスPublished - 2013
イベント2013 9th Asian Control Conference, ASCC 2013 - Istanbul, Turkey
継続期間: 2013 6月 232013 6月 26

出版物シリーズ

名前2013 9th Asian Control Conference, ASCC 2013

Other

Other2013 9th Asian Control Conference, ASCC 2013
国/地域Turkey
CityIstanbul
Period13/6/2313/6/26

ASJC Scopus subject areas

  • 制御およびシステム工学

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