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:: Volume 6, Issue 2 (2-2020) ::
JNSEE 2020, 6(2): 51-73 Back to browse issues page
Forward kinematic analysis of planar parallel robots using a neural network-based approach optimized by machine learning
Fazeleh Tavasolian, Hassan Khotanlou , Payam Varshovi-Jagharagh
Department of Computer Engineering, Bu-Ali Sina University, Hamedan, , khotanlou@basu.ac.ir
Abstract:   (3184 Views)
The forward kinematic problem of parallel robots is always considered as a challenge in the field of parallel robots due to the obtained nonlinear system of equations. In this paper, the forward kinematic problem of planar parallel robots in their workspace is investigated using a neural network based approach. In order to increase the accuracy of this method, the workspace of the parallel robot is divided into a number of smaller subspaces using the classifier and the boundary overlap method. After estimating the corresponding subspace, two separate neural networks are used in each subspace to determine the position and orientation of the moving platform. This approach is implemented on a 3-PRR planar parallel robot and its results are compared with the results obtained from the MLP, WaveNet, GMDH, Dual and Independent neural networks. Moreover, in order to evaluate the efficiency of the proposed method, a circular motion path is simulated using this approach and its performance is compared with the five mentioned methods. The results obtained from the implementation of this approach and comparison with the conventional methods indicates that the proposed method analyzes the forward kinematic problem of planar parallel robot with proper accuracy.
Keywords: Forward kinematic problem, Planar parallel robot, Classifier, Artificial neural network
Full-Text [PDF 1189 kb]   (629 Downloads)    
Type of Study: Research | Subject: Robotic
Received: 2019/05/19 | Accepted: 2020/03/16 | Published: 2020/09/6
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Tavasolian F, Khotanlou H, Varshovi-Jagharagh P. Forward kinematic analysis of planar parallel robots using a neural network-based approach optimized by machine learning. JNSEE. 2020; 6 (2) :51-73
URL: http://jnsee.sut.ac.ir/jnsee/article-1-263-en.html


Volume 6, Issue 2 (2-2020) Back to browse issues page
سامانه های غیرخطی در مهندسی برق Journal of Nonlinear Systems in Electrical Engineering
نشریه سامانه‌های غیرخطی در مهندسی برق در خصوص اصول اخلاقی انتشار مقاله، از توصیه‌های «کمیته بین‌المللی اخلاق نشر» موسوم به COPE و «منشور و موازین اخلاق پژوهش» مصوب معاونت پژوهش و فناوری وزارت علوم، تحقیقات و فناوری تبعیت می‌کند.
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