RRR Robotik Kol için Çok Katmanlı Algılayıcı ve Ters Kinematik Karşılaştırması

Yıl 2024, Cilt: 27 Sayı: 1, 121 - 131, 29.02.2024

Faruk Emre Aysal İbrahim Çelik Enes Cengiz Yüksel Oğuz

https://doi.org/10.2339/politeknik.1092642

Öz

Bu çalışmada 3 DOF bir robot kolunun pozisyon kontrol simülasyonu makine öğrenmesi ve ters kinematik analiz ile ayrı ayrı yapılarak karşılaştırılmıştır. Ele alınan robot kol, RRR düzeninde tasarlanmıştır. Robot kolun ters kinematik analizinde geometrik yaklaşım ve analitik yaklaşım birlikte kullanılmıştır. Makine öğrenmesi yöntemi olarak Multi-Layer Perceptron(MLP) kullanılmıştır. Robot kolun çalışma uzayında ulaşabileceği koordinat verilerinin bir kısmı seçilerek, bu verilerle MLP modeli eğitilmiştir. MLP makine öğrenmesi yöntemiyle eğitim yapıldığında korelasyon katsayısı(R2) 1 olarak elde edilmiştir. Çalışma uzayı içerisinde yer alabilecek olan 3 farklı geometrik modelin (helix, star ve daisy) koordinatları MLP modelinin test verisi olarak kullanılmıştır. Bu testler MATLAB ortamında 3d olarak simule edilmiştir. Simülasyon sonuçları test kinematik analiz verileri ile karşılaştırılmıştır. Sonuç olarak gerçekleştirilen testlerde helix, star ve daisy şekilleri için Mean Relative Error (MRE) değerleri sırasıyla 0.0007, 0.0033 ve 0.0011 olarak hesaplanmıştır. Mean Squared Error (MSE) değerleri ise sırasıyla 0.0034, 0.0065 ve 0.0040 olarak elde edilmiştir. Bu da önerilen MLP modelinin bu sistemi istenilen kararlılıkta çalıştırabileceğini doğrulamaktadır.

Anahtar Kelimeler

ters kinematik, çok katmanlı algılayıcı, robot kolu

Destekleyen Kurum

AFYON KOCATEPE ÜNİVERSİTESİ-BİLİMSEL ARAŞTIRMA PROJELERİ KOMİSYONU

Proje Numarası

21.KARİYER.03

Teşekkür

Bu çalışma "AFYON KOCATEPE ÜNİVERSİTESİ-BİLİMSEL ARAŞTIRMA PROJELERİ KOMİSYONU" tarafından 21.KARİYER.03 nolu proje ile desteklenmiştir.

A Comparison of Multi-Layer Perceptron and Inverse Kinematic for RRR Robotic Arm

Öz

In this study, the position control simulation of a 3 Degree of Freedom (3DOF) robot arm was compared with machine learning and inverse kinematic analysis separately. The considered robot arm is designed in RRR pattern. In the inverse kinematic analysis of the robot arm, the geometric approach and the analytical approach are used together. Multi-Layer Perceptron (MLP) was used as a machine learning method. Some of the coordinate data that the robot arm can reach in the working space are selected and the MLP model is trained with these data. When training was done with MLP machine learning method, the correlation coefficient (R2) was obtained as 1. Coordinates of 3 different geometric models (helix, star and daisy) that can be included in the working space are used as test data of the MLP model. These tests are simulated in 3D in MATLAB environment. The simulation results were compared with the inverse kinematics analysis data. As a result, Mean Relative Error (MRE) values for helix, star and daisy shapes were calculated as 0.0007, 0.0033 and 0.0011, respectively, in the tests performed. Mean Squared Error (MSE) values were obtained as 0.0034, 0.0065 and 0.0040, respectively. This confirms that the proposed MLP model can operate this system at the desired stability.

Anahtar Kelimeler

inverse kinematic, MLP, Robot arm

Proje Numarası

21.KARİYER.03

Kaynakça

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