scholarly journals Neural Network Solutions for Forward Kinematics Problem of HEXA Parallel Robot

10.5772/5374 ◽  
2008 ◽  
Author(s):  
M. Dehghani ◽  
M. Eghtesad ◽  
A. A. ◽  
A. Khayatian ◽  
M. Ahmadi
Keyword(s):  
Neural Network ◽  
Parallel Robot ◽  
Forward Kinematics

Forward Kinematics of Parallel Robot Based on Neuro-Fuzzy System

2013 ◽  
Vol 470 ◽  
pp. 636-643 ◽  
Author(s):  
Xiang Wu ◽  
Zu De Zhou ◽  
Qing Song Ai ◽  
Wei Meng
Keyword(s):  
Neural Network ◽  
Iterative Method ◽  
Fuzzy System ◽  
Fuzzy Theory ◽  
Parallel Robot ◽  
Learning Ability ◽  
Forward Kinematics ◽  
Kinematics Model ◽  
Neuro Fuzzy ◽  
Self Learning

As the structure of parallel robot is special in general mechanical and electrical systems, its forward kinematics needs to be solved by nonlinear equations. In this paper, for the issue that numerical iterative method requires complex mathematical derivation and programming, and is sensitive to the initial value, a Neuro-fuzzy system is proposed for solving forward kinematics model of parallel robot. Meanwhile, inverse kinematics is used for training database, knowledge representation ability of fuzzy theory and self-learning ability of neural network are combined to overcome the shortcomings that neural network cannot express human language and fuzzy system do not have self-learning ability. In addition, training and generation efficiency of the model can also be improved by reducing the input dimension reasonably. Simulation results have been showed that, in the premise of efficiency, accuracy of forward kinematics model using Neuro-fuzzy system is better than Newton-Raphson iterative method, and has better versatility.

scholarly journals A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Nicholas Baron ◽  
Andrew Philippides ◽  
Nicolas Rojas
Keyword(s):  
Potential Application ◽  
Robot Manipulator ◽  
Video Recording ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Geometric Method ◽  
Forward Kinematics ◽  
Online Video ◽  
End Effector ◽  
Moving Platform

This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal rigid structures when the actuators are locked. This also implies that its rigidity is not inherited from more general architectures or resulting from the combination of other fundamental structures. The introduced topology is a departure from the standard 3-RPR (or 3-RRR) mechanism on which most kinematically redundant planar parallel robot manipulators are based. The robot manipulator consists of a moving platform that is connected to the base via two RRR legs and connected to a ternary link, which is joined to the base by a passive revolute joint, via two other RRR legs. The resulting robot mechanism is kinematically redundant, being able to avoid the production of singularities and having unlimited rotational capability. The inverse and forward kinematics analyses of this novel robot manipulator are derived using distance-based techniques, and the singularity analysis is performed using a geometric method based on the properties of instantaneous centers of rotation. An example robot mechanism is analyzed numerically and physically tested; and a test trajectory where the end effector completes a full cycle rotation is reported. A link to an online video recording of such a capability, along with the avoidance of singularities and a potential application, is also provided.

Intelligent Computing Based on Neural Network Model in Problems of Kinematics and Control of Parallel Robot

2018 ◽  
Author(s):  
Sergey Yuriyevich Khalapyan ◽  
Anton Igorevich Glushchenko ◽  
Larisa Alexandrovna Rybak ◽  
Elena Vladimirovna Gaponenko ◽  
Dmitry Ivanovich Malyshev
Keyword(s):  
Neural Network ◽  
Network Model ◽  
Neural Network Model ◽  
Parallel Robot ◽  
Intelligent Computing ◽  
And Control
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