Abstract
Here, we propose an autonomous path planning solution using backpropagation algorithm. The mechanism of movement used by humans in controlling their arms is analyzed and then applied to control a robot manipulator. Autonomous path planning solution is a numerical method. The model of industrial robot manipulator used in this article is a KUKA KR 210 R2700 EXTRA robot. In order to show the performance of the autonomous path planning solution, an experiment validation of path tracking is provided. Experiment validation consists of implementation of the autonomous path planning solution and the control of physical robot. The process of converging to target solution is provided. The mean absolute error of position for tool center point is also analyzed. Comparison between autonomous path planning solution and the numerical methods based on Newton–Raphson algorithm is provided to demonstrate the efficiency and accuracy of the autonomous path planning solution.
Highlights
The control and movement of arm play an important role in our daily life
We propose an autonomous path planning solution (APPS) for industrial robot manipulator using backpropagation (BP) algorithm, which has a good performance in solving inverse kinematics (IK) problem
Section ‘‘Autonomous path planning solution’’ introduces the mechanism of arm movement into the method which is used to control robot manipulator, and the APPS based on BP algorithm is explained
Summary
The control and movement of arm play an important role in our daily life. It is very easy for humans to reach visual targets, such as pressing several keys. We propose an autonomous path planning solution (APPS) for industrial robot manipulator using backpropagation (BP) algorithm, which has a good performance in solving IK problem. Section ‘‘Autonomous path planning solution’’ introduces the mechanism of arm movement into the method which is used to control robot manipulator, and the APPS based on BP algorithm is explained. APPS for industrial robot manipulator using BP algorithm is proposed according to the mechanism of arm movement.
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