OPTIMIZATION OF THE ROBOT SPACE TRAJECTORY BY USING KINEMATICS, DYNAMICS, INTELLIGENT DAMPER AND PROPER NEURAL NETWORK
Journal Title: Proceedings in Manufacturing Systems - Year 2012, Vol 7, Issue 2
Abstract
In the robotics field one of the more important is the optimization of the space trajectory of the tool center point (TCP) without the undesired frequencies of the vibrations. The paper shows one new optimizing method by controlling the robots space trajectory by using the direct and inverse kinematics, direct and inverse dynamics, desired optimal Fourier spectrum and proper neural network. The proper neural network was established after the assisted research of the dynamic behavior, by trying to use some known networks type. The better solution of the neural network design, for solving the inverse kinematics and direct dynamics problems with the final goal of obtaining quickly the convergence process of the space trajectory and the Fourier target spectrum with the minimum errors without some of the frequencies of the spectrum was established by using the LabVIEW proper instrumentation, after the assisted research of all network parameters like the hidden layer data, amplifier gain, time delay and position in the network structure, recurrent links and number of neurons in each of all three used layers. The Sigmoid Bipolar Hyperbolic Tangent with Time Delay and Recurrent Links SBHTNN (TDRL) neural network type was proposed and used. The complex controlling of the space trajectory was made by using three neural networks of the same type: the first one to solve the inverse kinematics problem, the second for the direct dynamics problem by using some output data from the first one and the third one to establish the magnetorheological damper current intensity. All obtained results were verified by applying the simulation with LabVIEW instrumentation. Finally we obtained one optimal complex controller that can optimize the kinematics, dynamics and vibrations with trajectory errors smaller than 2%. The proper neural network, the controller design, the results and the virtual LabVIEW instrumentation could be used in many other mechanical applications.
Authors and Affiliations
A. Olaru
Keywords
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