Noise analysis of robot manipulator using neural networks


YILDIRIM Ş. , ESKİ I.

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, cilt.26, ss.282-290, 2010 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 26 Konu: 4
  • Basım Tarihi: 2010
  • Doi Numarası: 10.1016/j.rcim.2009.10.001
  • Dergi Adı: ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
  • Sayfa Sayıları: ss.282-290

Özet

Due to a lot of robot manipulators application in industry, low noise degree is very important criteria for robot manipulator's joints. In this paper, joint noise problem of a robot manipulator with five joints is investigated both theoretically and experimentally. The investigation is consisted of two steps. First step is to analyze the noise of joints using a hardware and software. The hardware is a part of noise sensors. The second step; according to experimental results, some neural networks are employed for finding robust neural noise analyzer. Five types of neural networks are used to compare each other. From the results, it is noted that the proposed RBFNN gives the best results for analyzing joint noise of the robot manipulator. (C) 2009 Elsevier Ltd. All rights reserved.