A New Technique to Improve Estimation of Position for Serial Robots

This paper presents a new method to improve the estimation of the positions for serial robots using power-activated feed-forward neural network. In the paper, a six-input three-output neural network is created with robot joint angle sine values as inputs and positions in the world frame as outputs....

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Veröffentlicht in:Applied Mechanics and Materials 2014-02, Vol.511-512 (Sensors, Mechatronics and Automation), p.817-821
Hauptverfasser: Shao, Ming Wei, Wei, Zhen Zhong, Zhang, Guang Jun, Wang, Ya Li
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container_title Applied Mechanics and Materials
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creator Shao, Ming Wei
Wei, Zhen Zhong
Zhang, Guang Jun
Wang, Ya Li
description This paper presents a new method to improve the estimation of the positions for serial robots using power-activated feed-forward neural network. In the paper, a six-input three-output neural network is created with robot joint angle sine values as inputs and positions in the world frame as outputs. The neuron is activated with an orthogonal polynomial sequence,and the neural weights can be calculated directly without involving iterative and convergent problem. It is found that, the RMS error is less than 0.25 mm for the whole work space. And the absolute and relative errors of this method are smaller than those of built in kinematics model and the traditional back propagation (BP) neural network method. Experimental results show that the proposed method can effectively predict the positioning of the given joint angles.
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subjects Back propagation
Errors
Mathematical models
Neural networks
Neurons
Polynomials
Robots
Serials
title A New Technique to Improve Estimation of Position for Serial Robots
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