ROBOT KOL AÇILARININ YAPAY SİNİR AĞI KULLANILARAK BULUNMASI

Bu çalışmanın amacı beş dönel eksenli bir robot kolunun ters kinematik probleminin yapay sinir ağı (YSA) ile çözülmesidir. Bu amaç doğrultusunda beş dönel eklemli SCORBOT-ER VPlus robotu kolu kullanılmıştır. Bu robot kolunun, sabitlendiği masa üzerindeki nesneleri alabilmesi için deneysel olarak koordinat verileri toplanmış ve bu verilerle robot kolunun taban, omuz ve dirsek eklem açılarını bulmak için YSA simülasyonu MATLAB R2008A yazılımında oluşturulmuştur. Oluşturulan bu YSA’ların çıkışları gerçek verilerle karşılaştırıldığında sonuçların uyumlu olduğu görülmüştür.

DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK

Aim of this study is to solve inverse kinematic problem of a five axis articulated robot arm by using artificial neural network. Through this aim five axes articulated SCORBOT-ER VPlus robot arm is used. Experimental coordinate data for this robot arm is collected form a table, on which this robot arm is fixed and artificial neural network simulation, is implemented on MATLAB R2008A software for determining base, shoulder, and elbow joint angles. As a result it is seen that outputs of the ANN’s suit the experimental data

Kaynak Göster

Bibtex @ { ejt376663, journal = {European Journal of Technique (EJT)}, issn = {2536-5010}, eissn = {2536-5134}, address = {INESEG Yayıncılık Dicle Üniversitesi Teknokent, Sur/Diyarbakır}, publisher = {Hibetullah KILIÇ}, year = {2016}, volume = {6}, pages = {198 - 207}, doi = {}, title = {DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK}, key = {cite}, author = {Arserim, Muhammet Ali and Demir, Yakup} }
APA Arserim, M , Demir, Y . (2016). DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK . European Journal of Technique (EJT) , 6 (2) , 198-207 . Retrieved from https://dergipark.org.tr/tr/pub/ejt/issue/34032/376663
MLA Arserim, M , Demir, Y . "DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK" . European Journal of Technique (EJT) 6 (2016 ): 198-207 <https://dergipark.org.tr/tr/pub/ejt/issue/34032/376663>
Chicago Arserim, M , Demir, Y . "DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK". European Journal of Technique (EJT) 6 (2016 ): 198-207
RIS TY - JOUR T1 - DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK AU - Muhammet Ali Arserim , Yakup Demir Y1 - 2016 PY - 2016 N1 - DO - T2 - European Journal of Technique (EJT) JF - Journal JO - JOR SP - 198 EP - 207 VL - 6 IS - 2 SN - 2536-5010-2536-5134 M3 - UR - Y2 - 2021 ER -
EndNote %0 European Journal of Technique DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK %A Muhammet Ali Arserim , Yakup Demir %T DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK %D 2016 %J European Journal of Technique (EJT) %P 2536-5010-2536-5134 %V 6 %N 2 %R %U
ISNAD Arserim, Muhammet Ali , Demir, Yakup . "DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK". European Journal of Technique (EJT) 6 / 2 (Ağustos 2016): 198-207 .
AMA Arserim M , Demir Y . DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK. EJT. 2016; 6(2): 198-207.
Vancouver Arserim M , Demir Y . DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK. European Journal of Technique (EJT). 2016; 6(2): 198-207.
IEEE M. Arserim ve Y. Demir , "DETERMINING JOINT ANGLES OF ROBOT ARM BY ARTIFICIAL NEURAL NETWORK", European Journal of Technique (EJT), c. 6, sayı. 2, ss. 198-207, Ağu. 2016

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