Neural Network Solution for Forward Kinematics Problem of Cable Robots

Forward kinematics problem of cable robots is very difficult to solve the same as that of parallel robots and in the contrary to the serial manipulators’. This problem is almost impossible to solve analytically because of the nonlinearity and complexity of the robot’s kinematic equations. Numerical...

Full description

Saved in:
Bibliographic Details
Published in:Journal of intelligent & robotic systems 2010-11, Vol.60 (2), p.201-215
Main Authors: Ghasemi, Ali, Eghtesad, Mohammad, Farid, Mehrdad
Format: Article
Language:English
Subjects:
Artificial Intelligence
Cables
Computer simulation
Control
Electrical Engineering
Engineering
Kinematics
Mathematical models
Mechanical Engineering
Mechatronics
Neural networks
Robotics
Robots
Three dimensional
Trains
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by cdi_FETCH-LOGICAL-c347t-b3565281f7aae23791eb27e056347e8089456c8fce772136c136d663834fcab83
cites cdi_FETCH-LOGICAL-c347t-b3565281f7aae23791eb27e056347e8089456c8fce772136c136d663834fcab83
container_end_page 215
container_issue 2
container_start_page 201
container_title Journal of intelligent & robotic systems
container_volume 60
creator Ghasemi, Ali
Eghtesad, Mohammad
Farid, Mehrdad
description Forward kinematics problem of cable robots is very difficult to solve the same as that of parallel robots and in the contrary to the serial manipulators’. This problem is almost impossible to solve analytically because of the nonlinearity and complexity of the robot’s kinematic equations. Numerical methods are the most common solutions for this problem of the parallel and cable robots. But, convergency of these methods is the drawback of using them. In this paper, neural network approach is used to solve the forward kinematics problem of an exemplary 3D cable robot. This problem is solved in the typical workspace of the robot. The neural network used in this paper is of the MLP type and a back propagation procedure is utilized to train the network. A simulation study is performed and the results show the advantages of this method in enhancement of convergency together with very small modeling errors.
doi_str_mv 10.1007/s10846-010-9421-z
format article
fullrecord <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_miscellaneous_907995313</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>907995313</sourcerecordid><originalsourceid>FETCH-LOGICAL-c347t-b3565281f7aae23791eb27e056347e8089456c8fce772136c136d663834fcab83</originalsourceid><addsrcrecordid>eNp1kE1LxDAQhoMouK7-AG_Bi6fqpGm-jrK4Ki4qfpxDmk2la9usScvi_nqzVBAED8MMM8_7MrwInRK4IADiMhKQBc-AQKaKnGTbPTQhTNAMClD7aAIqLSFX_BAdxbgCACWZmqD5gxuCafCD6zc-fOAX3wx97Ttc-YDnPmxMWOL7unOt6Wsb8VPwZeNa7Cs8M2nCz770fTxGB5Vpojv56VP0Nr9-nd1mi8ebu9nVIrO0EH1WUsZZLkkljHE5FYq4MhcOGE9nJ0GqgnErK-uEyAnlNtWScyppUVlTSjpF56PvOvjPwcVet3W0rmlM5_wQtQKhFKOEJvLsD7nyQ-jSc1pyUEyxgiSIjJANPsbgKr0OdWvClyagd7nqMVedctW7XPU2afJRExPbvbvwa_y_6BsjT3mO</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>860959541</pqid></control><display><type>article</type><title>Neural Network Solution for Forward Kinematics Problem of Cable Robots</title><source>Springer Link</source><creator>Ghasemi, Ali ; Eghtesad, Mohammad ; Farid, Mehrdad</creator><creatorcontrib>Ghasemi, Ali ; Eghtesad, Mohammad ; Farid, Mehrdad</creatorcontrib><description>Forward kinematics problem of cable robots is very difficult to solve the same as that of parallel robots and in the contrary to the serial manipulators’. This problem is almost impossible to solve analytically because of the nonlinearity and complexity of the robot’s kinematic equations. Numerical methods are the most common solutions for this problem of the parallel and cable robots. But, convergency of these methods is the drawback of using them. In this paper, neural network approach is used to solve the forward kinematics problem of an exemplary 3D cable robot. This problem is solved in the typical workspace of the robot. The neural network used in this paper is of the MLP type and a back propagation procedure is utilized to train the network. A simulation study is performed and the results show the advantages of this method in enhancement of convergency together with very small modeling errors.</description><identifier>ISSN: 0921-0296</identifier><identifier>EISSN: 1573-0409</identifier><identifier>DOI: 10.1007/s10846-010-9421-z</identifier><language>eng</language><publisher>Dordrecht: Springer Netherlands</publisher><subject>Artificial Intelligence ; Cables ; Computer simulation ; Control ; Electrical Engineering ; Engineering ; Kinematics ; Mathematical models ; Mechanical Engineering ; Mechatronics ; Neural networks ; Robotics ; Robots ; Three dimensional ; Trains</subject><ispartof>Journal of intelligent &amp; robotic systems, 2010-11, Vol.60 (2), p.201-215</ispartof><rights>Springer Science+Business Media B.V. 2010</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c347t-b3565281f7aae23791eb27e056347e8089456c8fce772136c136d663834fcab83</citedby><cites>FETCH-LOGICAL-c347t-b3565281f7aae23791eb27e056347e8089456c8fce772136c136d663834fcab83</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,27922,27923</link.rule.ids></links><search><creatorcontrib>Ghasemi, Ali</creatorcontrib><creatorcontrib>Eghtesad, Mohammad</creatorcontrib><creatorcontrib>Farid, Mehrdad</creatorcontrib><title>Neural Network Solution for Forward Kinematics Problem of Cable Robots</title><title>Journal of intelligent &amp; robotic systems</title><addtitle>J Intell Robot Syst</addtitle><description>Forward kinematics problem of cable robots is very difficult to solve the same as that of parallel robots and in the contrary to the serial manipulators’. This problem is almost impossible to solve analytically because of the nonlinearity and complexity of the robot’s kinematic equations. Numerical methods are the most common solutions for this problem of the parallel and cable robots. But, convergency of these methods is the drawback of using them. In this paper, neural network approach is used to solve the forward kinematics problem of an exemplary 3D cable robot. This problem is solved in the typical workspace of the robot. The neural network used in this paper is of the MLP type and a back propagation procedure is utilized to train the network. A simulation study is performed and the results show the advantages of this method in enhancement of convergency together with very small modeling errors.</description><subject>Artificial Intelligence</subject><subject>Cables</subject><subject>Computer simulation</subject><subject>Control</subject><subject>Electrical Engineering</subject><subject>Engineering</subject><subject>Kinematics</subject><subject>Mathematical models</subject><subject>Mechanical Engineering</subject><subject>Mechatronics</subject><subject>Neural networks</subject><subject>Robotics</subject><subject>Robots</subject><subject>Three dimensional</subject><subject>Trains</subject><issn>0921-0296</issn><issn>1573-0409</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2010</creationdate><recordtype>article</recordtype><recordid>eNp1kE1LxDAQhoMouK7-AG_Bi6fqpGm-jrK4Ki4qfpxDmk2la9usScvi_nqzVBAED8MMM8_7MrwInRK4IADiMhKQBc-AQKaKnGTbPTQhTNAMClD7aAIqLSFX_BAdxbgCACWZmqD5gxuCafCD6zc-fOAX3wx97Ttc-YDnPmxMWOL7unOt6Wsb8VPwZeNa7Cs8M2nCz770fTxGB5Vpojv56VP0Nr9-nd1mi8ebu9nVIrO0EH1WUsZZLkkljHE5FYq4MhcOGE9nJ0GqgnErK-uEyAnlNtWScyppUVlTSjpF56PvOvjPwcVet3W0rmlM5_wQtQKhFKOEJvLsD7nyQ-jSc1pyUEyxgiSIjJANPsbgKr0OdWvClyagd7nqMVedctW7XPU2afJRExPbvbvwa_y_6BsjT3mO</recordid><startdate>20101101</startdate><enddate>20101101</enddate><creator>Ghasemi, Ali</creator><creator>Eghtesad, Mohammad</creator><creator>Farid, Mehrdad</creator><general>Springer Netherlands</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7XB</scope><scope>8AL</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0N</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>Q9U</scope><scope>F28</scope></search><sort><creationdate>20101101</creationdate><title>Neural Network Solution for Forward Kinematics Problem of Cable Robots</title><author>Ghasemi, Ali ; Eghtesad, Mohammad ; Farid, Mehrdad</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c347t-b3565281f7aae23791eb27e056347e8089456c8fce772136c136d663834fcab83</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Artificial Intelligence</topic><topic>Cables</topic><topic>Computer simulation</topic><topic>Control</topic><topic>Electrical Engineering</topic><topic>Engineering</topic><topic>Kinematics</topic><topic>Mathematical models</topic><topic>Mechanical Engineering</topic><topic>Mechatronics</topic><topic>Neural networks</topic><topic>Robotics</topic><topic>Robots</topic><topic>Three dimensional</topic><topic>Trains</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Ghasemi, Ali</creatorcontrib><creatorcontrib>Eghtesad, Mohammad</creatorcontrib><creatorcontrib>Farid, Mehrdad</creatorcontrib><collection>CrossRef</collection><collection>ProQuest Central (Corporate)</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics &amp; Communications Abstracts</collection><collection>Mechanical &amp; Transportation Engineering Abstracts</collection><collection>ProQuest Central (purchase pre-March 2016)</collection><collection>Computing Database (Alumni Edition)</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>ProQuest Central (Alumni) (purchase pre-March 2016)</collection><collection>Materials Science &amp; Engineering Collection</collection><collection>ProQuest Central (Alumni)</collection><collection>ProQuest Central</collection><collection>Advanced Technologies &amp; Aerospace Database‎ (1962 - current)</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central</collection><collection>Engineering Research Database</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection (Proquest) (PQ_SDU_P3)</collection><collection>ProQuest Computer Science Collection</collection><collection>Computer Science Database</collection><collection>ProQuest Engineering Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts – Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Computing Database</collection><collection>Engineering Database</collection><collection>Advanced Technologies &amp; Aerospace Database</collection><collection>ProQuest Advanced Technologies &amp; Aerospace Collection</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><collection>ProQuest Central Basic</collection><collection>ANTE: Abstracts in New Technology &amp; Engineering</collection><jtitle>Journal of intelligent &amp; robotic systems</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Ghasemi, Ali</au><au>Eghtesad, Mohammad</au><au>Farid, Mehrdad</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Neural Network Solution for Forward Kinematics Problem of Cable Robots</atitle><jtitle>Journal of intelligent &amp; robotic systems</jtitle><stitle>J Intell Robot Syst</stitle><date>2010-11-01</date><risdate>2010</risdate><volume>60</volume><issue>2</issue><spage>201</spage><epage>215</epage><pages>201-215</pages><issn>0921-0296</issn><eissn>1573-0409</eissn><abstract>Forward kinematics problem of cable robots is very difficult to solve the same as that of parallel robots and in the contrary to the serial manipulators’. This problem is almost impossible to solve analytically because of the nonlinearity and complexity of the robot’s kinematic equations. Numerical methods are the most common solutions for this problem of the parallel and cable robots. But, convergency of these methods is the drawback of using them. In this paper, neural network approach is used to solve the forward kinematics problem of an exemplary 3D cable robot. This problem is solved in the typical workspace of the robot. The neural network used in this paper is of the MLP type and a back propagation procedure is utilized to train the network. A simulation study is performed and the results show the advantages of this method in enhancement of convergency together with very small modeling errors.</abstract><cop>Dordrecht</cop><pub>Springer Netherlands</pub><doi>10.1007/s10846-010-9421-z</doi><tpages>15</tpages></addata></record>
fulltext fulltext
identifier ISSN: 0921-0296
ispartof Journal of intelligent & robotic systems, 2010-11, Vol.60 (2), p.201-215
issn 0921-0296
1573-0409
language eng
recordid cdi_proquest_miscellaneous_907995313
source Springer Link
subjects Artificial Intelligence
Cables
Computer simulation
Control
Electrical Engineering
Engineering
Kinematics
Mathematical models
Mechanical Engineering
Mechatronics
Neural networks
Robotics
Robots
Three dimensional
Trains
title Neural Network Solution for Forward Kinematics Problem of Cable Robots
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-14T11%3A33%3A44IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Neural%20Network%20Solution%20for%20Forward%20Kinematics%20Problem%20of%20Cable%20Robots&rft.jtitle=Journal%20of%20intelligent%20&%20robotic%20systems&rft.au=Ghasemi,%20Ali&rft.date=2010-11-01&rft.volume=60&rft.issue=2&rft.spage=201&rft.epage=215&rft.pages=201-215&rft.issn=0921-0296&rft.eissn=1573-0409&rft_id=info:doi/10.1007/s10846-010-9421-z&rft_dat=%3Cproquest_cross%3E907995313%3C/proquest_cross%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-c347t-b3565281f7aae23791eb27e056347e8089456c8fce772136c136d663834fcab83%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_pqid=860959541&rft_id=info:pmid/&rfr_iscdi=true