Solution of Forward Kinematic for Five Axis Robot Arm using ANN

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Electronic Letters on Science and Engineering
Volume:1 Issue:2
Solution of Forward Kinematic for Five Axis Robot Arm using ANN

Solution of Forward Kinematic for Five Axis Robot Arm using ANN

Authors : A MÜHÜRCÜ

Pages : 55-59

View : 13 | Download : 11

Publication Date : 2005-08-01

Article Type : Research Paper

Abstract :Bu çalismada, bes eklemli mafsallandirilmis insert ignore into journalissuearticles values(RRR); [2] bir robot kolunun yapay sinir agi kullanilarak ileri kinematik hesaplamalari yapilmistir. Ileri kinematik probleminde, robot kolun baslangiç eklem açilari insert ignore into journalissuearticles values(j); ve hareket eklem açilari insert ignore into journalissuearticles values( ); 1 2 3 4 5 q ,q ,q ,q ,q girdi olarak verilmis ve robot elinin eristigi son nokta insert ignore into journalissuearticles values(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

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