475 research outputs found
A fault detection and isolation system for cooperative manipulators
The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed in this paper. Four FDI procedures are developed to deal with free-swinging joint faults, locked joint faults, incorrectly measured joint position, and incorrectly measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) is used to reproduce the dynamics of the fault-free robot. The outputs of each MLP are compared to the actual joint velocities in order to generate a residual vector which is then classified by an RBF network. The remaining faults are isolated based on the kinematic constraints imposed on the cooperative system. Results obtained via simulations and via an actual cooperative manipulator robot are presented
Inverse Kinematics and Trajectory Planning Analysis of a Robotic Manipulator
In this work, we pretended to show and compare three methodologies used to solve the inverse kinematics of a 3 DOF robotic manipulator. The approaches are the algebraic method through Matlabreg; solve function, Genetic Algorithms (GAs), Artificial Neural Networks (ANNs). Another aspect considered is the trajectory planning of the manipulator, which allows the user to control the desired movement in the joint space. We compare polynomials of third, fourth and fifth orders for the solution of the chosen coordinates. The results show that the ANN method presented best results due to its configuration to show only feasible joint values, as also do the GA. In the trajectory planning the analysis lead to the fifth-order polynomial, which showed the smoothest solution
Development of an Adaptive Algorithm for Solving the Inverse Kinematics Problem for Serial Robot Manipulators
In order to overcome the drawbacks of some control schemes, which depends
on modeling the system being controlled, and to overcome the problem of
inverse kinematics which are mainly singularities and uncertainties in arm
configuration.
Artificial Neural Networks (ANN) technique has been utilized where learning is
done iteratively based only on observation of input-output relationship.
The proposed technique does not require any prior knowledge of the kinematics
model of the system being controlled; the main idea of this approach is the use
of an Artificial Neural Network to learn the robot system characteristics rather
than having to specify an explicit robot system model.Since one of the most important problems in using Artificial Neural Networks, is
the choice of the appropriate networks' configuration, two different networks'
configurations were designed and tested, they were trained to learn desired set
of joint angles positions from a given set of end effector positions.
Experimental results have shown better response for the first configuration
network in terms of precision and iteration.
The developed approach possesses several distinct advantages; these
advantages can be listed as follows :(First) system model does not have to be
known at the time of the controller design, (Second) any change in the physical
setup of the system such as the addition of a new tool would only involve
training and will not require any major system software modifications, and
(Third) this scheme would work well in a typical industrial set-up where the
controller of a robot could be taught the handful of paths depending on the task
assigned to that robot.
The efficiency of the proposed algorithm is demonstrated through simulations of
a general 6 D.O.F. serial robot manipulato
Multi-criteria Evolution of Neural Network Topologies: Balancing Experience and Performance in Autonomous Systems
Majority of Artificial Neural Network (ANN) implementations in autonomous
systems use a fixed/user-prescribed network topology, leading to sub-optimal
performance and low portability. The existing neuro-evolution of augmenting
topology or NEAT paradigm offers a powerful alternative by allowing the network
topology and the connection weights to be simultaneously optimized through an
evolutionary process. However, most NEAT implementations allow the
consideration of only a single objective. There also persists the question of
how to tractably introduce topological diversification that mitigates
overfitting to training scenarios. To address these gaps, this paper develops a
multi-objective neuro-evolution algorithm. While adopting the basic elements of
NEAT, important modifications are made to the selection, speciation, and
mutation processes. With the backdrop of small-robot path-planning
applications, an experience-gain criterion is derived to encapsulate the amount
of diverse local environment encountered by the system. This criterion
facilitates the evolution of genes that support exploration, thereby seeking to
generalize from a smaller set of mission scenarios than possible with
performance maximization alone. The effectiveness of the single-objective
(optimizing performance) and the multi-objective (optimizing performance and
experience-gain) neuro-evolution approaches are evaluated on two different
small-robot cases, with ANNs obtained by the multi-objective optimization
observed to provide superior performance in unseen scenarios
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