Learning the Kinematics of a Manipulator Based on VQTAM

doi:10.3390/sym12040519

CORC > 兰州理工大学 > 兰州理工大学 > 机电工程学院

	Learning the Kinematics of a Manipulator Based on VQTAM
	Luo Lan 1; Hou Li 1; Wu Yang 1; Wei Yongqiao 2; Zhang Qi 3
刊名	SYMMETRY-BASEL
	2020-04-01
卷号	12 期号:4
关键词	robot kinematics machine learning VQTAM priority K-means tree search algorithm local linearization SVD
DOI	10.3390/sym12040519
英文摘要	The kinematics of a robotic manipulator is critical to the real-time performance and robustness of the robot control system. This paper proposes a surrogate model of inverse kinematics for the serial six-degree of freedom (6-DOF) robotic manipulator, based on its kinematics symmetry. Herein, the inverse kinematics model is derived via the training of the Vector-Quantified Temporal Associative Memory (VQTAM) network, which originates from Self-Organized Mapping (SOM). During the processes of training, testing, and estimating of this neural network, a priority K-means tree search algorithm is utilized, thus improving the training efficacy. Furthermore, Local Linear Regression (LLR), Local Weighted Linear Regression (LWR), and Local Linear Embedding (LLE) algorithms are, respectively, combined with VQTAM to obtain three improvement algorithms, all of which aim to further optimize the prediction accuracy of the networks for subsequent comparison and selection. To speed up the solving of the least squared equation, which is common among the three algorithms, Singular Value Decomposition (SVD) is introduced. Finally, data from forward kinematics, in the form of the exponential product of a motion screw, are obtained, and are used for the construction and validation of the VQTAM neural network. Our results show that the prediction effect of the LLE algorithm is better than others, and that the LLE algorithm is a potential surrogate model to estimate the output of inverse kinematics.
WOS研究方向	Science & Technology - Other Topics
语种	英语
出版者	MDPI
WOS记录号	WOS:000540222200030
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/155210]
专题	机电工程学院
作者单位	1.Sichuan Univ, Sch Mech Engn, Chengdu 610065, Peoples R China; 2.Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Peoples R China; 3.Panzhihua Univ, Sch Intelligent Mfg, Panzhihua 617000, Peoples R China
推荐引用方式 GB/T 7714	Luo Lan,Hou Li,Wu Yang,et al. Learning the Kinematics of a Manipulator Based on VQTAM[J]. SYMMETRY-BASEL,2020,12(4).
APA	Luo Lan,Hou Li,Wu Yang,Wei Yongqiao,&Zhang Qi.(2020).Learning the Kinematics of a Manipulator Based on VQTAM.SYMMETRY-BASEL,12(4).
MLA	Luo Lan,et al."Learning the Kinematics of a Manipulator Based on VQTAM".SYMMETRY-BASEL 12.4(2020).