Modeling and Error Compensation of Robotic Articulated Arm Coordinate Measuring Machines Using BP Neural Network
Joint Authors
Gao, Guanbin
Wu, Xing
San, Hongjun
Wang, Wen
Zhang, Hongwei
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-10-18
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
Articulated arm coordinate measuring machine (AACMM) is a specific robotic structural instrument, which uses D-H method for the purpose of kinematic modeling and error compensation.
However, it is difficult for the existing error compensation models to describe various factors, which affects the accuracy of AACMM.
In this paper, a modeling and error compensation method for AACMM is proposed based on BP Neural Networks.
According to the available measurements, the poses of the AACMM are used as the input, and the coordinates of the probe are used as the output of neural network.
To avoid tedious training and improve the training efficiency and prediction accuracy, a data acquisition strategy is developed according to the actual measurement behavior in the joint space.
A neural network model is proposed and analyzed by using the data generated via Monte-Carlo method in simulations.
The structure and parameter settings of neural network are optimized to improve the prediction accuracy and training speed.
Experimental studies have been conducted to verify the proposed algorithm with neural network compensation, which shows that 97% error of the AACMM can be eliminated after compensation.
These experimental results have revealed the effectiveness of the proposed modeling and compensation method for AACMM.
American Psychological Association (APA)
Gao, Guanbin& Zhang, Hongwei& San, Hongjun& Wu, Xing& Wang, Wen. 2017. Modeling and Error Compensation of Robotic Articulated Arm Coordinate Measuring Machines Using BP Neural Network. Complexity،Vol. 2017, no. 2017, pp.1-8.
https://search.emarefa.net/detail/BIM-1143019
Modern Language Association (MLA)
Gao, Guanbin…[et al.]. Modeling and Error Compensation of Robotic Articulated Arm Coordinate Measuring Machines Using BP Neural Network. Complexity No. 2017 (2017), pp.1-8.
https://search.emarefa.net/detail/BIM-1143019
American Medical Association (AMA)
Gao, Guanbin& Zhang, Hongwei& San, Hongjun& Wu, Xing& Wang, Wen. Modeling and Error Compensation of Robotic Articulated Arm Coordinate Measuring Machines Using BP Neural Network. Complexity. 2017. Vol. 2017, no. 2017, pp.1-8.
https://search.emarefa.net/detail/BIM-1143019
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1143019