Modeling and Simulation of 3DOF Parallel Manipulator Using Artificial Neural Network
Date
2019
Journal Title
Journal ISSN
Volume Title
Type
Article
Publisher
IOP PUBLISHING LTD
Series Info
18th International Conference on Aerospace Sciences & Aviation Technology;012080
Scientific Journal Rankings
Abstract
Parallel Robot (PR) has shown its ability to be precise in its movement. Actuators
move simultaneously to achieve the required target, on top of that its payload is much greater
than what a serial robot can withstand. To determine workspace of the robot with known angles
Forward kinematics has to be introduced which, bring a lot of difficulty as it requires the solution
of multiple coupled nonlinear algebraic equations. Those equations bring multiple valid
solutions. Those solutions could lead to different locations. As it is not going to make the pick
and place for PR will be easier. This paper will discuss a numerical method that calculates the
Forward Kinematics for PR. This method uses Artificial Neural Network which relay on training
with a certain number of iterations. The set of data to be used in the training can be obtained
from PR simulation. This method will serve to know workspace around PR as it will help it to
pick the target object.
Description
Keywords
University for artificial neural network, 3DOF parallel manipulator, Modelling and simulation