2 research outputs found
Automated weighing by sequential inference in dynamic environments
We demonstrate sequential mass inference of a suspended bag of milk powder
from simulated measurements of the vertical force component at the pivot while
the bag is being filled. We compare the predictions of various sequential
inference methods both with and without a physics model to capture the system
dynamics. We find that non-augmented and augmented-state unscented Kalman
filters (UKFs) in conjunction with a physics model of a pendulum of varying
mass and length provide rapid and accurate predictions of the milk powder mass
as a function of time. The UKFs outperform the other method tested - a particle
filter. Moreover, inference methods which incorporate a physics model
outperform equivalent algorithms which do not.Comment: 5 pages, 7 figures. Copyright IEEE (2015
Inverse kinematics solution for trajectory tracking using artificial neural networks for SCORBOT ER-4u
This paper presents the kinematic analysis of the SCORBOT-ER 4u robot arm using a Multi-Layered Feed-Forward (MLFF) Neural Network. The SCORBOT-ER 4u is a 5-DOF vertical articulated educational robot with revolute joints. The Denavit-Hartenberg and Geometrical methods are the forward kinematic algorithms used to generate data and train the neural network. The learning of forward-inverse mapping enables the inverse kinematic solution to be found. The algorithm is tested on hardware (SCORBOT-ER 4u) and reliable results are obtained. The modeling and simulations are done using MATLAB 8.0 software