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

Kontrol ve Otomasyon Mühendisliği Bölümü

Keio University

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakem

7 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	2013 9th Asian Control Conference, ASCC 2013
DOI'lar	https://doi.org/10.1109/ASCC.2013.6606306
Yayın durumu	Yayınlandı - 2013
Etkinlik	2013 9th Asian Control Conference, ASCC 2013 - Istanbul, Türkiye Süre: 23 Haz 2013 → 26 Haz 2013

Yayın serisi

Adı	2013 9th Asian Control Conference, ASCC 2013

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	2013 9th Asian Control Conference, ASCC 2013
Ülke/Bölge	Türkiye
Şehir	Istanbul
Periyot	23/06/13 → 26/06/13

BM SKH

Bu sonuç, aşağıdaki Sürdürülebilir Kalkınma Hedefine/Hedeflerine katkıda bulunur

SKH 9 Sanayi, Yenilikçilik ve Altyapı

Belgeye Erişim

10.1109/ASCC.2013.6606306

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

@inproceedings{82aa6f833dce4c4da813a9cd28596e84,

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, Türkiye, 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

Özet

Yayın serisi

???event.eventtypes.event.conference???

BM SKH

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap