Abstract
The calculation of the Direct Kinematic Problem (DKP) is one of the main issues in real-world applications of Parallel Robots, as iterative procedures have to be applied to compute the pose of the robot. Being this issue critical to robot Real-Time control, in this work a methodology to use Artificial Neural Networks to approximate the DKP is proposed and a comprehensive study is carried out to demonstrate experimentally the Real-Time performance benefits of the approach in a 3PRS parallel robot.
This work was supported in part by the Government of Spain under project DPI2012-32882, the Government of the Basque Country (Project IT719-13) and UPV/EHU under grant UFI11/28.
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Zubizarreta, A., Larrea, M., Irigoyen, E., Cabanes, I. (2015). Real Time Parallel Robot Direct Kinematic Problem Computation Using Neural Networks. In: Herrero, Á., Sedano, J., Baruque, B., Quintián, H., Corchado, E. (eds) 10th International Conference on Soft Computing Models in Industrial and Environmental Applications. Advances in Intelligent Systems and Computing, vol 368. Springer, Cham. https://doi.org/10.1007/978-3-319-19719-7_25
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DOI: https://doi.org/10.1007/978-3-319-19719-7_25
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