Bes Eklemli Bir Robot Kolu Için Ileri Kinematigin YSA Ile Çözümü

Year 2005, Volume: 1 Issue: 2, 55 - 59, 01.08.2005

A. Mühürcü

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