Using a Neural Network instead of IKM in 2R Planar Robot to follow rectangular path
| Autor: | Ali Ali |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: | |
| Zdroj: | Journal of Advances in Computer Engineering and Technology, Vol 6, Iss 2, Pp 71-78 (2020) |
| Druh dokumentu: | article |
| ISSN: | 2423-4192 2423-4206 |
| Popis: | Abstract— An educational platform is presented here for the beginner students in the Simulation and Artificial Intelligence sciences. It provides with a start point of building and simulation of the manipulators, especially of 2R planar Robot. It also displays a method to replace the inverse kinematic model (IKM) of the Robot with a simpler one, by using a Multi-Layer Perceptron Neural Network (MLP-NN), to make the end-effector able to track a specific path, which has a rectangular shape (in this article), and allocated in the robot's workspace. The method is based on Back-Propagation Levenberg Marquardt algorithm. This paper also suggests a good strategy for the simulation of the robot's motion in Matlab to tell the beginners how the operation could be done quite closely to the built-in Matlab functions. The control part was ignored here for the simplicity. So we can classify this paper as a manual in the robotic world. |
| Databáze: | Directory of Open Access Journals |
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