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Estimation of the Kinematics and Workspace of a Robot Using Artificial Neural Networks

At present, in specific and complex industrial operations, robots have to respect certain requirements and criteria as high kinematic or dynamic performance, specific dimensions of the workspace, or limitation of the dimensions of the mobile elements of the robot. In order to respect these criteria,...

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Detalles Bibliográficos
Autores principales: Boanta, Cătălin, Brișan, Cornel
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9657425/
https://www.ncbi.nlm.nih.gov/pubmed/36366055
http://dx.doi.org/10.3390/s22218356
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author Boanta, Cătălin
Brișan, Cornel
author_facet Boanta, Cătălin
Brișan, Cornel
author_sort Boanta, Cătălin
collection PubMed
description At present, in specific and complex industrial operations, robots have to respect certain requirements and criteria as high kinematic or dynamic performance, specific dimensions of the workspace, or limitation of the dimensions of the mobile elements of the robot. In order to respect these criteria, a proper design of the robots has to be achieved, which requires years of practice and a proper knowledge and experience of a human designer. In order to assist the human designer in the process of designing the robots, several methods (including optimization methods) have been developed. The scientific problem addressed in this paper is the development of an artificial intelligence method to estimate the size of the workspace and the kinematics of a robot using a feedforward neural network. The method is applied on a parallel robot composed of a base platform, a mobile platform and six kinematic rotational-universal-spherical open loops. The numerical results show that, with proper training and topology, a feedforward neural network is able to estimate properly values of the volume of the workspace and the values of the generalized coordinates based on the pose of the end effector.
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spelling pubmed-96574252022-11-15 Estimation of the Kinematics and Workspace of a Robot Using Artificial Neural Networks Boanta, Cătălin Brișan, Cornel Sensors (Basel) Article At present, in specific and complex industrial operations, robots have to respect certain requirements and criteria as high kinematic or dynamic performance, specific dimensions of the workspace, or limitation of the dimensions of the mobile elements of the robot. In order to respect these criteria, a proper design of the robots has to be achieved, which requires years of practice and a proper knowledge and experience of a human designer. In order to assist the human designer in the process of designing the robots, several methods (including optimization methods) have been developed. The scientific problem addressed in this paper is the development of an artificial intelligence method to estimate the size of the workspace and the kinematics of a robot using a feedforward neural network. The method is applied on a parallel robot composed of a base platform, a mobile platform and six kinematic rotational-universal-spherical open loops. The numerical results show that, with proper training and topology, a feedforward neural network is able to estimate properly values of the volume of the workspace and the values of the generalized coordinates based on the pose of the end effector. MDPI 2022-10-31 /pmc/articles/PMC9657425/ /pubmed/36366055 http://dx.doi.org/10.3390/s22218356 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Boanta, Cătălin
Brișan, Cornel
Estimation of the Kinematics and Workspace of a Robot Using Artificial Neural Networks
title Estimation of the Kinematics and Workspace of a Robot Using Artificial Neural Networks
title_full Estimation of the Kinematics and Workspace of a Robot Using Artificial Neural Networks
title_fullStr Estimation of the Kinematics and Workspace of a Robot Using Artificial Neural Networks
title_full_unstemmed Estimation of the Kinematics and Workspace of a Robot Using Artificial Neural Networks
title_short Estimation of the Kinematics and Workspace of a Robot Using Artificial Neural Networks
title_sort estimation of the kinematics and workspace of a robot using artificial neural networks
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9657425/
https://www.ncbi.nlm.nih.gov/pubmed/36366055
http://dx.doi.org/10.3390/s22218356
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