Solving the Inverse Kinematic Equations of Elastic Robot Arm Utilizing Neural Network

Abstract

The inverse kinematic equation for a robot is very important to the control robot’s motion and position. The solving of this equation is complex for the rigid robot due to the dependency of this equation on the joint configuration and structure of robot link. In light robot arms, where the flexibility exists, the solving of this problem is more complicated than the rigid link robot because the deformation variables (elongation and bending) are present in the forward kinematic equation. The finding of an inverse kinematic equation needs to obtain the relation between the joint angles and both of the end-effector position and deformations variables. In this work, a neural network has been proposed to solve the problem of inverse kinematic equation. To feed the neural network, experimental data were taken from an elastic robot arm for training the network, these data presented by joint angles, deformation variables and end-effector positions. The results of network training showed a good fit between the output results of the neural network and the targets data. In addition, this method for finding the inverse of kinematic equation proved its effectiveness and validation when applying the results of neural network practically in the robot’s operating software for controlling the real light robot’s position.

Infrastructure development strategy based on the accessibility to tourism location (case study of Bali Province-Indonesia)

“…reducing energy consumption and greenhouse gas emissions, priority has to be given to the development public transport system. At the moment, the private car has a better accessibility performance compared to public transport, which was also found in the study in Baghdad [26]. Promoting green infrastructure development is hoped to attract more tourists to visit Bali Island in the future.…”

“…The existence of a high-speed railway has increased the accessibility of cities in the Beijing-Tianjin-Hebei region [25]. Estimation of accessibility in terms of the total travel time for three arterial routes was conducted in Baghdad [26]. A comparison of travel time and levels of accessibility between public and private transport was conducted in the Oforikrom district.…”

“…On the one hand, with the rapid development of tourism, people's demand for traffic conditions is increasing, which promotes the improvement of the public transportation system to a certain extent; on the other hand, the continuous improvement of the public transportation system enhances regional accessibility and thus the number of tourists further increases, which in turn promotes the continuous development of the tourism industry. [29] Many studies focused on accessible tourism issues [30,31], and measurement of accessibility [24,25,26,27,28], however, none of the studies have examined the unequal development and accessibility among regencies related to tourism location. Bali is one of the Provinces in Indonesia that experiences unequal economic growth among its 9 regencies.…”

Sigma-3: Integration and Analysis of a 6 DOF Robotic Arm Configuration in a Rescue Robot

“…Therefore, the displacement from an accurate position is ignored rather than finding the appropriate position is observed in this paper. According to the Euler angle principle, the rotation part is the result of three sets of rotations which are: a roll, pitch, and yaw about the axis , , x y z respectively [23]. The sequence of rotation is -(…”

Inverse Kinematics Analysis and Simulation of a 5 DOF Robotic Arm using MATLAB

“…The kinematic analysis contains two components: forward kinematics and inverse kinematics to study the movement of the robots. The forward kinematics is used to determine the position of the end-effector of a robot using the angles of the joints as inputs, while the position is used as input to determine the joint angles in inverse kinematics [2]. The simplest method to represent the robot links and joints to solve the forward kinematics is a Denavid-Hartenberg (D-H) method [3].…”