Intelligent systems based solutions for the kinematics problem of the industrial robot arms

Emre Sariyildiz; Kemal Ucak; Kouhei Ohnishi; Gulay Oke; Hakan Temeltas

doi:10.1109/ASCC.2013.6606306

Intelligent systems based solutions for the kinematics problem of the industrial robot arms

Emre Sariyildiz
, Kemal Ucak
, Kouhei Ohnishi
, Gulay Oke
, Hakan Temeltas

Department of Control and Automation Engineering

Keio University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

In this paper, three intelligent system methods namely Artificial Neural Network (ANN), Support Vector Machine (SVM) and Adaptive Neuro Fuzzy Inference Systems (ANFIS), are implemented to solve the inverse kinematics problem of the industrial robot arms. The main advantages of the intelligent system based solutions in the robot kinematics are that they can be easily implemented in analysis of complex mechanisms and their solutions do not suffer by the singularity that is one of the fundamental problems of inverse kinematics. The screw theory and quaternion algebra based kinematic model is used to improve the model efficiency by decreasing the computational complexity and load. The kinematics problem of the Staubli TX-60L industrial robot arm is analyzed by using the proposed intelligent system based solutions and simulation results are given.

Original language	English
Title of host publication	2013 9th Asian Control Conference, ASCC 2013
DOIs	https://doi.org/10.1109/ASCC.2013.6606306
Publication status	Published - 2013
Event	2013 9th Asian Control Conference, ASCC 2013 - Istanbul, Turkey Duration: 23 Jun 2013 → 26 Jun 2013

Publication series

Name	2013 9th Asian Control Conference, ASCC 2013

Conference

Conference	2013 9th Asian Control Conference, ASCC 2013
Country/Territory	Turkey
City	Istanbul
Period	23/06/13 → 26/06/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

ANFIS
Artificial Neural Networks
Redundancy
Robot Arm
Singularity
Support Vector Machine
Trajectory Tracking

Access to Document

10.1109/ASCC.2013.6606306

Cite this

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title = "Intelligent systems based solutions for the kinematics problem of the industrial robot arms",

abstract = "In this paper, three intelligent system methods namely Artificial Neural Network (ANN), Support Vector Machine (SVM) and Adaptive Neuro Fuzzy Inference Systems (ANFIS), are implemented to solve the inverse kinematics problem of the industrial robot arms. The main advantages of the intelligent system based solutions in the robot kinematics are that they can be easily implemented in analysis of complex mechanisms and their solutions do not suffer by the singularity that is one of the fundamental problems of inverse kinematics. The screw theory and quaternion algebra based kinematic model is used to improve the model efficiency by decreasing the computational complexity and load. The kinematics problem of the Staubli TX-60L industrial robot arm is analyzed by using the proposed intelligent system based solutions and simulation results are given.",

keywords = "ANFIS, Artificial Neural Networks, Redundancy, Robot Arm, Singularity, Support Vector Machine, Trajectory Tracking",

author = "Emre Sariyildiz and Kemal Ucak and Kouhei Ohnishi and Gulay Oke and Hakan Temeltas",

year = "2013",

doi = "10.1109/ASCC.2013.6606306",

language = "English",

isbn = "9781467357692",

series = "2013 9th Asian Control Conference, ASCC 2013",

booktitle = "2013 9th Asian Control Conference, ASCC 2013",

note = "2013 9th Asian Control Conference, ASCC 2013 ; Conference date: 23-06-2013 Through 26-06-2013",

}

Sariyildiz, E, Ucak, K, Ohnishi, K, Oke, G & Temeltas, H 2013, Intelligent systems based solutions for the kinematics problem of the industrial robot arms. in 2013 9th Asian Control Conference, ASCC 2013., 6606306, 2013 9th Asian Control Conference, ASCC 2013, 2013 9th Asian Control Conference, ASCC 2013, Istanbul, Turkey, 23/06/13. https://doi.org/10.1109/ASCC.2013.6606306

TY - GEN

T1 - Intelligent systems based solutions for the kinematics problem of the industrial robot arms

AU - Sariyildiz, Emre

AU - Ucak, Kemal

AU - Ohnishi, Kouhei

AU - Oke, Gulay

AU - Temeltas, Hakan

PY - 2013

Y1 - 2013

N2 - In this paper, three intelligent system methods namely Artificial Neural Network (ANN), Support Vector Machine (SVM) and Adaptive Neuro Fuzzy Inference Systems (ANFIS), are implemented to solve the inverse kinematics problem of the industrial robot arms. The main advantages of the intelligent system based solutions in the robot kinematics are that they can be easily implemented in analysis of complex mechanisms and their solutions do not suffer by the singularity that is one of the fundamental problems of inverse kinematics. The screw theory and quaternion algebra based kinematic model is used to improve the model efficiency by decreasing the computational complexity and load. The kinematics problem of the Staubli TX-60L industrial robot arm is analyzed by using the proposed intelligent system based solutions and simulation results are given.

AB - In this paper, three intelligent system methods namely Artificial Neural Network (ANN), Support Vector Machine (SVM) and Adaptive Neuro Fuzzy Inference Systems (ANFIS), are implemented to solve the inverse kinematics problem of the industrial robot arms. The main advantages of the intelligent system based solutions in the robot kinematics are that they can be easily implemented in analysis of complex mechanisms and their solutions do not suffer by the singularity that is one of the fundamental problems of inverse kinematics. The screw theory and quaternion algebra based kinematic model is used to improve the model efficiency by decreasing the computational complexity and load. The kinematics problem of the Staubli TX-60L industrial robot arm is analyzed by using the proposed intelligent system based solutions and simulation results are given.

KW - ANFIS

KW - Artificial Neural Networks

KW - Redundancy

KW - Robot Arm

KW - Singularity

KW - Support Vector Machine

KW - Trajectory Tracking

UR - https://www.scopus.com/pages/publications/84886463809

U2 - 10.1109/ASCC.2013.6606306

DO - 10.1109/ASCC.2013.6606306

M3 - Conference contribution

AN - SCOPUS:84886463809

SN - 9781467357692

T3 - 2013 9th Asian Control Conference, ASCC 2013

BT - 2013 9th Asian Control Conference, ASCC 2013

T2 - 2013 9th Asian Control Conference, ASCC 2013

Y2 - 23 June 2013 through 26 June 2013

ER -

Intelligent systems based solutions for the kinematics problem of the industrial robot arms

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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