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Intelligent modeling of double link flexible robotic manipulator using artificial neural network

The paper investigates the application of the Artificial Neural Network (ANN) in modeling of double-link flexible robotic manipulator (DLFRM). The system was categorized under multi-input multi-output. In this research, the dynamic models of DLFRM were separated into single-input single-output in th...

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Main Authors:	Jamali, A., Mat Darus, I. Z., Mohd. Samin, P. P., Tokhi, M. O.
Format:	Article
Language:	English
Published:	JVE International 2018
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/85575/1/IntanZaurahMatDarus2018_IntelligentModelingofDoubleLink.pdf http://eprints.utm.my/id/eprint/85575/ http://dx.doi.org/10.21595/jve.2017.18575
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spelling	my.utm.855752020-06-30T08:50:43Z http://eprints.utm.my/id/eprint/85575/ Intelligent modeling of double link flexible robotic manipulator using artificial neural network Jamali, A. Mat Darus, I. Z. Mohd. Samin, P. P. Tokhi, M. O. TJ Mechanical engineering and machinery The paper investigates the application of the Artificial Neural Network (ANN) in modeling of double-link flexible robotic manipulator (DLFRM). The system was categorized under multi-input multi-output. In this research, the dynamic models of DLFRM were separated into single-input single-output in the modeling stage. Thus, the characteristics of DLFRM were defined separately in each model and the coupling effect was assumed to be minimized. There are four discrete SISO model of double link flexible manipulator were developed from torque input to the hub angle and from torque input to the end point accelerations of each link. An experimental work was established to collect the input-output data pairs and used in developing the system model. Since the system is highly nonlinear, NARX model was chosen as the model structure because of its simplicity. The nonlinear characteristic of the system was estimated using the ANN whereby multi-layer perceptron (MLP) and ELMAN neural network (ENN) structure were utilized. The implementation of the ANN and its’ effectiveness in developing the model of DLFRM was emphasized. The performance of the MLP was compared to ENN based on the validation of the mean-squared error (MSE) and correlation tests of the developed models. The results indicated that the identification of the DLFRM system using the MLP outperformed the ENN with lower mean squared prediction error and unbiased results for all the models. Thus, the MLP provides a good approximation of the DLFRM dynamic model compared to the ENN. JVE International 2018-03 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/85575/1/IntanZaurahMatDarus2018_IntelligentModelingofDoubleLink.pdf Jamali, A. and Mat Darus, I. Z. and Mohd. Samin, P. P. and Tokhi, M. O. (2018) Intelligent modeling of double link flexible robotic manipulator using artificial neural network. Journal of Vibroengineering, 20 (2). pp. 1021-1034. ISSN 1392-8716 http://dx.doi.org/10.21595/jve.2017.18575
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Jamali, A. Mat Darus, I. Z. Mohd. Samin, P. P. Tokhi, M. O. Intelligent modeling of double link flexible robotic manipulator using artificial neural network
description	The paper investigates the application of the Artificial Neural Network (ANN) in modeling of double-link flexible robotic manipulator (DLFRM). The system was categorized under multi-input multi-output. In this research, the dynamic models of DLFRM were separated into single-input single-output in the modeling stage. Thus, the characteristics of DLFRM were defined separately in each model and the coupling effect was assumed to be minimized. There are four discrete SISO model of double link flexible manipulator were developed from torque input to the hub angle and from torque input to the end point accelerations of each link. An experimental work was established to collect the input-output data pairs and used in developing the system model. Since the system is highly nonlinear, NARX model was chosen as the model structure because of its simplicity. The nonlinear characteristic of the system was estimated using the ANN whereby multi-layer perceptron (MLP) and ELMAN neural network (ENN) structure were utilized. The implementation of the ANN and its’ effectiveness in developing the model of DLFRM was emphasized. The performance of the MLP was compared to ENN based on the validation of the mean-squared error (MSE) and correlation tests of the developed models. The results indicated that the identification of the DLFRM system using the MLP outperformed the ENN with lower mean squared prediction error and unbiased results for all the models. Thus, the MLP provides a good approximation of the DLFRM dynamic model compared to the ENN.
format	Article
author	Jamali, A. Mat Darus, I. Z. Mohd. Samin, P. P. Tokhi, M. O.
author_facet	Jamali, A. Mat Darus, I. Z. Mohd. Samin, P. P. Tokhi, M. O.
author_sort	Jamali, A.
title	Intelligent modeling of double link flexible robotic manipulator using artificial neural network
title_short	Intelligent modeling of double link flexible robotic manipulator using artificial neural network
title_full	Intelligent modeling of double link flexible robotic manipulator using artificial neural network
title_fullStr	Intelligent modeling of double link flexible robotic manipulator using artificial neural network
title_full_unstemmed	Intelligent modeling of double link flexible robotic manipulator using artificial neural network
title_sort	intelligent modeling of double link flexible robotic manipulator using artificial neural network
publisher	JVE International
publishDate	2018
url	http://eprints.utm.my/id/eprint/85575/1/IntanZaurahMatDarus2018_IntelligentModelingofDoubleLink.pdf http://eprints.utm.my/id/eprint/85575/ http://dx.doi.org/10.21595/jve.2017.18575
_version_	1672610553842892800
score	13.211869

Intelligent modeling of double link flexible robotic manipulator using artificial neural network

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