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(2)
The span of the robotic arm will determine this area. Also, it
should be noted that the arm's base and joints can move for
limited angles only. The area of interest by the arm will be
mapped into grids with coordinates. The inputs to the artificial
neural network system will be the coordinates at which the object
was positioned. Its outputs will be the angles of each joint of the
robotic arm such that it can pick the object at its corresponding
position.
I.
INTRODUCTION
Hidden layer/s
Output layer
METHODOLOGY
1
Artificial Neural
Network
1
Robotic Arm
Movement
Yes
Gather training
data
rrain
NN
Test NN
No
Yes
A.
The figure below shows the robotic arm and the location of
each joint along the arm
.
..
Joint 2
measured manually, at which the two joints and the base must
be positioned to reach and pick the said object.
B.
Training Process
."
1
o
"
Testing Process
Data
-- Fit
........ Y=T
"
EXPERIMENT RESULTS
....
5.
....
::J
-50
100
50
Target
150
-:::
=:::""-;a:==::::::::::j:z:::-1
--Train
Validation
--Te.t
Test: R=O.98388
('t)
150
-
+
cD
til
o
-...... . ..
Data
Fit
y= T
100
"
to
15 Epochs
10
15
!;.-
....
::J
So
50
::J
50
Target
100
150
zero, it can be observed from the graph that there are some
outliers whose errors reach as high as -30 degrees.
Error Histogram with 20 Bins
45
: R=0.99248
40
o
35
'
,e:p
III
.,
30
25
(')
Nloo
III
20
+
-
10
'5
15
.... 50
50
100
50
Target
150
--------==
-- Base Angle E R'or
--JOint 1 Angle Error
Joinl2 AIlgl. err",
20
20
'O--'0--20--7------50--ro
Input Number
VI.
Neural
Networks.
2014
IEEEIRSJ
International
role
of
Inverse
Kinematic
Model.
2014
IEEE
12th
REFERENCES
[1]
"The
European
competitiveness
robotics
of
SMEs
initiative
in
strengthening
manufacturing
by
the
integrating
methods: What they are and how to use them," Acta Chimica
Springer-Verlag, 1996.