Universiti Teknologi Malaysia Institutional Repository

Non-parametric modeling of double-link flexible robot manipulator based on NNARX model structure

Jamali, A. and Mat Darus, I. Z. and Abdulhussain, A. and Tokhi, M. O. (2016) Non-parametric modeling of double-link flexible robot manipulator based on NNARX model structure. In: 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016;, 12-14 Sept 2016, London, United Kingdom.

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Abstract

The double-link flexible robot manipulator (DLFR) is a highly non-linear system. The development of existing linear models involves a lot of assumptions and approximations in order to reduce the complex calculation. Due to that, this paper presents a non-linear Auto Regressive model with eXogenous inputs (NARX) for DLFR and neural network is used to predict the non-linear segment. Thus, NNARX structure is used to develop four separate model of double link flexible manipulator from torque input to hub angle and from torque input to end point accelerations of each link. The performance of NNARX models are validated via One Step Ahead, Mean Squared Error and correlation tests.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:Complex networks, Flexible manipulators, Industrial robots, Linear systems, Mean square error
Subjects:T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions:Mechanical Engineering
ID Code:73682
Deposited By: Mohd Zulaihi Zainudin
Deposited On:28 Nov 2017 16:38
Last Modified:28 Nov 2017 16:38

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