Trajectory Analysis of 6-DOF Industrial Robot Manipulators by Using Artificial Neural Networks

摘要

Robot manipulators are robotic systems that are frequently used in automation systems and able to provide increased speed, precision, and efficiency in the industrial applications. Due to their nonlinear and complex nature, it is crucial to optimize the robot manipulator systems in terms of trajectory control. In this study, positioning analyses based on artificial neural networks (ANNs) were performed for robot manipulator systems used in the textile industry, and the optimal ANN model for the high-accuracy positioning was improved. The inverse kinematic analyses of a 6-degree-of-freedom (DOF) industrial denim robot manipulator were carried out via four different learning algorithms, delta-bar-delta (DBD), online back propagation (OBP), quick back propagation (QBP), and random back propagation (RBP), for the proposed neural network predictor. From the results obtained, it was observed that the QBP-based 3-10-6 type ANN structure produced the optimal results in terms of estimation and modeling of trajectory control. In addition, the 3-5-6 type ANN structure was also improved, and its root mean square error (RMSE) and statistical R2 performances were compared with that of the 3-10-6 ANN structure. Consequently, it can be concluded that the proposed neural predictors can successfully be employed in real-time industrial applications for robot manipulator trajectory analysis.