Parallel robots pose accuracy compensation using artificial neural networks

Da Yong Yu; Da Cheng Cong; Jun Wei Han

Parallel robots pose accuracy compensation using artificial neural networks

Da Yong Yu, Da Cheng Cong, Jun Wei Han

Harbin Institute of Technology

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

15 Scopus citations

Abstract

Parallel robots pose accuracy compensation approach using artificial neural networks has been developed. In this method, an artificial neural network is used with conventional inverse kinematics computation module in parallel. A back propagation neural network is designed and implemented to learn parallel robot kinematics model error. The trained neural network can be used to performed on-line pose accuracy compensation in task. Simulation and experimental results for a parallel robot are presented to show the effectiveness of the compensation method based on neural networks.

Original language	English
Title of host publication	2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005
Pages	3194-3198
Number of pages	5
State	Published - 2005
Externally published	Yes
Event	International Conference on Machine Learning and Cybernetics, ICMLC 2005 - Guangzhou, China Duration: 18 Aug 2005 → 21 Aug 2005

Publication series

Name	2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005

Conference

Conference	International Conference on Machine Learning and Cybernetics, ICMLC 2005
Country/Territory	China
City	Guangzhou
Period	18/08/05 → 21/08/05

Keywords

Accuracy compensation
Artificial neural networks
Kinematics calibration
Parallel robot
Pose accuracy

Cite this

@inproceedings{9ceb43ac20ec46ec8cac34767550f02c,

title = "Parallel robots pose accuracy compensation using artificial neural networks",

abstract = "Parallel robots pose accuracy compensation approach using artificial neural networks has been developed. In this method, an artificial neural network is used with conventional inverse kinematics computation module in parallel. A back propagation neural network is designed and implemented to learn parallel robot kinematics model error. The trained neural network can be used to performed on-line pose accuracy compensation in task. Simulation and experimental results for a parallel robot are presented to show the effectiveness of the compensation method based on neural networks.",

keywords = "Accuracy compensation, Artificial neural networks, Kinematics calibration, Parallel robot, Pose accuracy",

author = "Yu, {Da Yong} and Cong, {Da Cheng} and Han, {Jun Wei}",

year = "2005",

language = "英语",

isbn = "078039092X",

series = "2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005",

pages = "3194--3198",

booktitle = "2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005",

note = "International Conference on Machine Learning and Cybernetics, ICMLC 2005 ; Conference date: 18-08-2005 Through 21-08-2005",

}

Yu, DY, Cong, DC & Han, JW 2005, Parallel robots pose accuracy compensation using artificial neural networks. in 2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005. 2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005, pp. 3194-3198, International Conference on Machine Learning and Cybernetics, ICMLC 2005, Guangzhou, China, 18/08/05.

Parallel robots pose accuracy compensation using artificial neural networks. / Yu, Da Yong; Cong, Da Cheng; Han, Jun Wei.
2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005. 2005. p. 3194-3198 (2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005).

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

TY - GEN

T1 - Parallel robots pose accuracy compensation using artificial neural networks

AU - Yu, Da Yong

AU - Cong, Da Cheng

AU - Han, Jun Wei

PY - 2005

Y1 - 2005

N2 - Parallel robots pose accuracy compensation approach using artificial neural networks has been developed. In this method, an artificial neural network is used with conventional inverse kinematics computation module in parallel. A back propagation neural network is designed and implemented to learn parallel robot kinematics model error. The trained neural network can be used to performed on-line pose accuracy compensation in task. Simulation and experimental results for a parallel robot are presented to show the effectiveness of the compensation method based on neural networks.

AB - Parallel robots pose accuracy compensation approach using artificial neural networks has been developed. In this method, an artificial neural network is used with conventional inverse kinematics computation module in parallel. A back propagation neural network is designed and implemented to learn parallel robot kinematics model error. The trained neural network can be used to performed on-line pose accuracy compensation in task. Simulation and experimental results for a parallel robot are presented to show the effectiveness of the compensation method based on neural networks.

KW - Accuracy compensation

KW - Artificial neural networks

KW - Kinematics calibration

KW - Parallel robot

KW - Pose accuracy

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M3 - 会议稿件

AN - SCOPUS:28444489339

SN - 078039092X

SN - 9780780390928

T3 - 2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005

SP - 3194

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T2 - International Conference on Machine Learning and Cybernetics, ICMLC 2005

Y2 - 18 August 2005 through 21 August 2005

ER -

Parallel robots pose accuracy compensation using artificial neural networks

Abstract

Publication series

Conference

Keywords

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