Three methods of training multi-layer perceptrons to model a robot sensor

Robotica ◽  
1995 ◽  
Vol 13 (5) ◽  
pp. 531-538 ◽  
Author(s):  
D. T. Pham ◽  
S. Sagiroglu
Keyword(s):  
Genetic Algorithm ◽  
Degrees Of Freedom ◽  
Natural Vibration ◽  
Inertial Sensor ◽  
Input Pattern ◽  
Training Methods ◽  
Six Degrees Of Freedom ◽  
Marquardt Algorithm ◽  
Levenberg Marquardt ◽  
Working Principle

SummaryThis paper discusses three methods of training multi-layer perceptrons (MLPs) to model a six-degrees-of- freedom inertial sensor. Such a sensor is designed for use with a robot to determine the location of objects it has to pick up. The sensor operates by measuring parameters related to the inertia of an object and computing its location from those parameters. MLP models are employed for part of the computation. They are trained to output the orientation of the object in response to an input pattern that includes the period of natural vibration of the sensor on which the object rests. After reviewing the working principle of the sensor, the paper describes the three MLP training methods (backpropagation, optimisation using the Levenberg-Marquardt algorithm, evolution based on the genetic algorithm) and presents the experimental results obtained.

Study on Welding Path Planning of Welding Position Flock for Welding Robot Based on Improved Genetic Algorithm

2014 ◽  
Vol 602-605 ◽  
pp. 1332-1335
Author(s):  
Hong Wei Lv
Keyword(s):  
Genetic Algorithm ◽  
Degrees Of Freedom ◽  
Mathematic Model ◽  
Welding Robot ◽  
Improved Genetic Algorithm ◽  
Complete Coverage ◽  
Six Degrees Of Freedom ◽  
Filial Generation ◽  
Full Rotation ◽  
Welding Position

With full rotation articulated ABB-IBR140-M2000 robot with six degrees of freedom used as welding robot, the exploring of efficient complete coverage of welding position flock is an important way of improving the performance of welding robot. Making use of improved genetic algorithm, in which the best father generation is saved and using ordered cross and reverse ordered mutation to constitute filial generation, and this method makes sure that the algorithms is convergent. The complete coverage of welding position optimization mathematic model whose objective is the minimum distance is established, making use of the improved genetic algorithm to solve the problem, an example is analyzed in detail, and the result shows that the algorithms is convergent and efficient.

Approach for Solving Nonlinear Equation Group Based on Adaptive Genetic Algorithm

2012 ◽  
Vol 532-533 ◽  
pp. 1636-1639
Author(s):  
Hong Lian Shen ◽  
Feng Lin Cheng ◽  
Huan Ru Ren
Keyword(s):  
Genetic Algorithm ◽  
Nonlinear Equation ◽  
Accurate Solution ◽  
Initial Solution ◽  
Function Optimization ◽  
Adaptive Genetic Algorithm ◽  
Time Efficiency ◽  
Marquardt Algorithm ◽  
Levenberg Marquardt ◽  
Equation Group

A numeric method of solving nonlinear equation group is proposed. The problem of solving nonlinear equation group is equivalently changed to the problem of function optimization, and then a solution is obtained by adaptive genetic algorithm, considering it as the initial solution of Levenberg-Marquardt algorithm, a more accurate solution can be obtained, as a result, time efficiency is improved.

Design of the Hydraulic System for Carrying Manipulator with 6-DOF

2014 ◽  
Vol 989-994 ◽  
pp. 2802-2806
Author(s):  
Min Wang ◽  
Cai Dong Wang ◽  
Hui Zheng ◽  
Guo Feng Fan
Keyword(s):  
Mathematical Model ◽  
Hydraulic System ◽  
Degrees Of Freedom ◽  
Assembly Line ◽  
Industrial Robot ◽  
Structural Parameters ◽  
Hydraulic Cylinder ◽  
Six Degrees Of Freedom ◽  
Output Force ◽  
Working Principle

According to the requirements for wheel hub assembly line, the structure and hydraulic system of carrying manipulator with six degrees of freedom (DOF) is designed. The working principle of the hydraulic system is analyzed. To minimize the output force of the hydraulic cylinder, a mathematical model of hydraulic cylinder output force and structural parameters is established. And then the manipulator structure is optimized based on Matlab software. The key components of the hydraulic system are selected. This research provides reference for design of similar hydraulic system of industrial robot.

A manipulator size optimization method based on dexterous workspace volume

Cobot ◽  
2022 ◽  
Vol 1 ◽  
pp. 3
Author(s):  
Yuanhai Huang ◽  
Zhi Li ◽  
Kefan Xing ◽  
Haoqin Gong
Keyword(s):  
Genetic Algorithm ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Optimization Method ◽  
Size Optimization ◽  
Maximum Volume ◽  
Six Degrees Of Freedom ◽  
Working Point

Background: Manipulators for robots are required to have high manipulability for adaptability in different tasks. However, general methods for designing manipulators with high manipulability are deficient. Here, aiming at improving the manipulability of the six degrees-of-freedom (DOF) manipulator, a method for optimizing structure size parameters based on the dexterous workspace volume is proposed. Methods: Firstly, the kinematic analysis of the manipulator is performed. Then, the manipulability of the single working point of the manipulator is judged based on reachability in different postures. The workspace of the manipulator is discretized to obtain the volume of the overall dexterous workspace. By taking the maximum volume of the dexterous workspace as the optimization goal, Genetic Algorithm (GA) is used to optimize the structure size parameters to achieve optimal manipulability. AUBO 6-DOF manipulator is defined and analyzed as an example. Results: The optimization results indicate that the dexterous workspace of the manipulator expands in volume and its manipulability is improved. The validity of the proposed optimization method is verified by comparing the distribution of dexterous workspace of the manipulator. Conclusions: This article proposes an optimization method for the structure size parameters of a 6-DOF manipulator, which can be implemented to improving the manipulability of the manipulator.

scholarly journals Research on the Optimization of the Vibration Reduction Seat Based on Genetic Algorithm

2015 ◽  
Vol 9 (1) ◽  
pp. 882-886
Author(s):  
Zhen Chen ◽  
Xinya Chen ◽  
Yang Zhao
Keyword(s):  
Genetic Algorithm ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Optimal Parameter ◽  
Vibration Reduction ◽  
Main Body ◽  
Practical Application ◽  
Six Degrees Of Freedom ◽  
Damping Effect ◽  
Parameter Values

Adopting the parallel mechanism as the main body of the seat and the active joints with spring damping elements as the vibration actuator, we established the damping seat model with the parallel mechanism of six degrees of freedom 3-PRPS. To achieve good damping effect, the damping space and flexibility of the mechanism were improved by affecting the velocity matrix with branched speed built by vectors. Optimal parameter values were obtained by genetic algorithm. Finally, results were synthesized and verified to provide an important theoretical basis for the practical application of the mechanism.

Sign in / Sign up

Export Citation Format

Share Document