Bes Eklemli Bir Robot Kolu Için Ileri Kinematigin YSA Ile Çözümü

Abstract

Bu çalismada, bes eklemli mafsallandirilmis (RRR) [2] bir robot kolunun yapay sinir agi kullanilarak ileri kinematik hesaplamalari yapilmistir. Ileri kinematik probleminde, robot kolun baslangiç eklem açilari (j) ve hareket eklem açilari ( ) 1 2 3 4 5 q ,q ,q ,q ,q girdi olarak verilmis ve robot elinin eristigi son nokta (x,y,z) hesaplanmistir. Incelemeye alinan robot kol, lynx motion [5] firmasi tarafindan üretilmis olup; robot koluna ait eklem hareketleri servo motor ile gerçeklestirilmistir.

Keywords

• Yapay sinir aglari, ileri kinematik, robot kol

Solution of Forward Kinematic for Five Axis Robot Arm using ANN

Abstract

In this work, there has been used Artificial Neural Networks (ANNs) for solution of forward kinematic of five axis articulated robot arm. The inputs are the five degrees ( ) 1 2 3 4 5 q ,q ,q ,q ,q of the arm axis. There by the outputs are positions of x,y,z. The arm motions are made by servo motors. This type of motors needs only position knowledge for rotating. The results of the study clearly demonstrate the ANN results are very close to the observed values of forward kinematic.

Keywords

• Artificial neural network, robot arm, forward kinematic