Nurettin Gökhan ADAR

Real Time Control Application of the Robotic Arm Using Neural Network Based Inverse Kinematics Solution

Robotic arms are widely used in many industrial applications at present. The control of robotic arms involves position coordination Cartesian space by a forward/inverse kinematics solution method. The inverse kinematics is difficult for real-time control applications, computational requirements are intensive and the run-time is high. The traditional solution methods used geometric, algebraic, and numerical iterative techniques are inadequate and slow in the inverse kinematics solution. Recently, alternative solution methods based on artificial intelligence techniques have been developed to solve the inverse kinematics problem. In this study, a multi-layered feed-forward Artificial Neural Network model was developed to solve the inverse kinematics of the 5 degrees of freedom robotic arm. Using the Proportional-Integral control algorithm combined with this Artificial Neural Network model, the real-time position control of the robotic arm was accomplished. The obtained results were compared with the PI control supported by an analytical inverse kinematics solution in real-time. The results showed that the PI control combined with Artificial Neural Network has superior tracking ability, smaller control error, and better absolute fit to the reference.

Keywords:

Robotic arm, Artificial neural network, Inverse kinematics PI control,

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