PSO and neural network based intelligent posture calibration method for robot arm

Ping Huan Kuo, Guan Hong Liu, Ya Fang Ho, Tzuu Hseng S. Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Inverse kinematics is a general method for defining the joint angles of the robot arm. This method provides an efficient way to control the robot arm for several tasks. However, the server motors or the mechanism design of the robot arm may not always be ideal. If the motor consumption is existed, the error of the final position of the robot arm will be increased. In order to solve this problem, this paper proposes an intelligent method for the posture calibration of the robot arm. In this paper, the particle swarm optimization (PSO) algorithm and the proposed neural network model are integrated to calibrate the kinematics of the robot arm. The experimental results show that the control error can be reduced by applying the proposed method. The feasibility and practicality of the proposed method are also validated in the experiments.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3095-3100
Number of pages6
ISBN (Electronic)9781509018970
DOIs
Publication statusPublished - 2017 Feb 6
Event2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary
Duration: 2016 Oct 92016 Oct 12

Publication series

Name2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

Other

Other2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
CountryHungary
CityBudapest
Period16-10-0916-10-12

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All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition
  • Artificial Intelligence
  • Control and Optimization
  • Human-Computer Interaction

Cite this

Kuo, P. H., Liu, G. H., Ho, Y. F., & Li, T. H. S. (2017). PSO and neural network based intelligent posture calibration method for robot arm. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings (pp. 3095-3100). [7844711] (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2016.7844711