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

研究成果: Conference contribution

5 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
發行者Institute of Electrical and Electronics Engineers Inc.
頁面3095-3100
頁數6
ISBN(電子)9781509018970
DOIs
出版狀態Published - 2017 二月 6
事件2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary
持續時間: 2016 十月 92016 十月 12

出版系列

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

Other

Other2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
國家Hungary
城市Budapest
期間16-10-0916-10-12

All Science Journal Classification (ASJC) codes

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

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  • 引用此

    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. 於 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings (頁 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