- Tytuł:
- Arduino-based implementation of kinematics for a 4 DOF robot manipulator using artificial neural network
- Autorzy:
-
Rashid, Zaid Hikmat
Sarhan, Riyadh Ahmed
Hassan, Mohammed Salih - Powiązania:
- https://bibliotekanauki.pl/articles/27317631.pdf
- Data publikacji:
- 2024
- Wydawca:
- Polska Akademia Nauk. Polskie Towarzystwo Diagnostyki Technicznej PAN
- Tematy:
-
robot
kinematics
neural network
arduino
micro stepping - Opis:
- Real-time motion control is basically dependent on robot kinematics analysis where there is no unique solution of the inverse kinematics of serial manipulators. The predictive artificial neural network is a powerful one for finding appropriate results based on training data. Therefore, an artificial neural network is proposed to implement on Arduino microcontroller for a 4-DOF robot manipulator where the inverse kinematics problem was partitioned to suit the low specification of the board CPU. With MATALB toolbox, multiple neural network configuration based were trained and experienced for the best fit of the dimensionless feedforward data that is obtained from the forward kinematics of reachable workspace with average MSE of 6.5e-7. The results showed the superior of the proposed networks reducing the joints error by 90 % at least with comparing to traditional one. An Arduino on-board program was developed to control the robot independly based on pre validated parameters of the network. The experimental results approved the proposed method to implement the robot in real time with maximum error of (± 0.15 mm) in end effector position. The presented approach can be applied to achieve a suitable solution of n-DOF self-depend robot implementation using micro stepping actuators.
- Źródło:
-
Diagnostyka; 2024, 25, 1; art. no. 2024114
1641-6414
2449-5220 - Pojawia się w:
- Diagnostyka
- Dostawca treści:
- Biblioteka Nauki
Artykuł