Solving Continuous Trajectory and Forward Kinematics Simultaneously Based on ANN

  • Chun Kit Ang Universiti Putra Malaysia
  • Sai Hong Tang Universiti Putra Malaysia Department of Mechanical and Manufacturing Engineering, Faculty of Engineering
  • Syamsiah Mashohor Universiti Putra Malaysia Department of Mechanical and Manufacturing Engineering, Faculty of Engineering
  • Mohd Khairol Anuar Mohd Arrifin Universiti Putra Malaysia Department of Mechanical and Manufacturing Engineering, Faculty of Engineering

Abstract

Robot movement can be predicted by incorporating Forward Kinematics(FK) and trajectory planning techniques. However, the calculations will becomecomplicated and hard to be solved if the number of specific via points is increased.Thus, back-propagation artificial neural network is proposed in this paper to overcomethis drawback due to its ability in learning pattern solutions. A virtual 4-degreeof freedom manipulator is exploited as an example and the theoretical results arecompared with the proposed method.

References

Saeed B. N. Introduction to Robotics Analysis,System,Application. Prentice Hall 2001, 29 – 172.

Ata, A., and Myo, Thi. Optimal trajectory planning and obstacle avoidance for flexible manipulators using generalized pattern research. World Journal Modeling and Simulation, 4, 163–171, 2008.

Guan, Y., Yokoi, K., and Kheddar, A. On robotic trajectory planning using polynomial interpolations. Proceeding of the IEEE International Conference on Robotics and Biomimetics, 111-116, 2005.

Reichenbach. T, Kovacic .Z. Collision-Free Path Planning in Robot Cells Using Virtual 3D Collision Sensors. Cutting Edge Robotics, 784, 2005.

Campos, J., Flores, J.A.R., and Montufar, C.P. Robot Trajectory Planning for Multiple 3D Moving Objects Interception: A Polynomial Interpolation Approach. Proceeding of the IEEE International Conferences on Electronics, Robotics and Automotive Mechanics, 478-483, 2008.

Zarkandi S., Vafadar A., Esmaili M. R. PRRRRRP Redundant Planar Parallel Manipulator: Kinematics, Workspace and Singularity Analysis. IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM), pg 61-66, 2011.

Al-Mashhadany,Y. I. Inverse Kinematics Problem (IKP) of 6-DOF Manipulator By Locally Recurrent Neural Networks (LRNNs). International Conference on Management and Service Science (MASS), 1 – 5, 2010.

Zhang, D., Lei, J. Kinematic analysis of a novel 3-DOF actuation redundant parallel manipulator using artificial intelligence approach. Robotics and Computer-Intergrated Manufacturing, 27, 157-163, 2011.
http://dx.doi.org/10.1016/j.rcim.2010.07.003

Firmani, F., Podhoprodeski, R. P. Singularity analysis of planar parallel manipulatos based on forward kinematic solutions. Mechanism and Machine Theory, 44, 1386-1399, 2009.
http://dx.doi.org/10.1016/j.mechmachtheory.2008.11.005

Alvandar, S., Nigam, M. J. Neuro-Fuzzy based approach for inverse kinematics solution of industrial robot manipulators. Int. J. of Computers, Communications & Control, 3, 224-234, 2008.

Mahidzal, D., and Jian-Ding, T. Forward and Inverse Kinematics Model for Robotic Welding Process Using KR-16KS KUKA Robot. Proceeding of the IEEE Int. Conf. on Modeling,Simulation and Applied Optimization, 1-6, 2011.

Shah, J., Rattan S. S., Nakra, B.C. Kinematic Analysis of 2-DOF planer robot using artificial neural network. World Academy of Science, Engineering and Technology, 81, 282-285, 2011.

Parikh, J.P., Lam, S.S. Solving the forward kinematics problem in parallel manipulators using an iterative artificial neural network strategy. Int. J. Adv. Manuf. Technol., 40, 595-606, 2009.
http://dx.doi.org/10.1007/s00170-007-1360-x

Her, M.-G., Chen, C.Y., and Karkoub, M. Approximating a Robot Inverse Kinematics Solution Using Fuzzy Logic Tuned by Genetic Algorithms. The International Journal of Advanced Manufacturing Techonology, 375-380, 2002.
Published
2014-04-04
How to Cite
ANG, Chun Kit et al. Solving Continuous Trajectory and Forward Kinematics Simultaneously Based on ANN. INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, [S.l.], v. 9, n. 3, p. 253-260, apr. 2014. ISSN 1841-9844. Available at: <http://univagora.ro/jour/index.php/ijccc/article/view/112>. Date accessed: 04 july 2020. doi: https://doi.org/10.15837/ijccc.2014.3.112.

Keywords

Artificial Neural Network (ANN), back propagation neural network, forward kinematics, continuous trajectory