AN INTELLIGENT METHOD TO ESTIMATE THE INERTIA MATRIX OF A ROBOT ARM FOR ACTIVE FORCE CONTROL USING ON-LINE NEURAL NETWORK TRAINING SCHEME

Authors

  • Shamsul Bahri Hussein Department of Applied Mechanics Faculty of Mechanical Engineering Universiti Teknologi Malaysia 81310 Johor Bahru, Johor
  • Hishamuddin Jamaluddin Department of Applied Mechanics Faculty of Mechanical Engineering Universiti Teknologi Malaysia 81310 Johor Bahru, Johor
  • Musa Mailah Department of Applied Mechanics Faculty of Mechanical Engineering Universiti Teknologi Malaysia 81310 Johor Bahru, Johor

Keywords:

Keywords

Abstract

This paper presents a new intelligent controller algorithm comprising
an on-line multi-layer artificial neural network (ANN) training
scheme to estimate the inertia matrix ofthe robot arm to enhance the
performance of the active force control (AFC) scheme. The robot
under study is a planar two-link rigid robot which is subjected to a
non-linear disturbance torques acting at the robot joints. The
algorithm has two stages, namely the ANN training stage and -the
implementation stage. During the training stage, the proposed ANN
scheme trains the ANNparameters (weights and biases) for a period
oftime by utilising the back-propagation (BP) learning method. After
a sufficient training period, the training session is switched off, and
the ANN is ready to be used in the implementation stage of the
intelligent AFC-ANN controller scheme. The results of the training
and implementation stages are shown and discussed. It is shown that the proposed controller scheme is very effective and robust. The simulation is accomplished using MATLAB@ software.

References

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Published

2018-05-21

How to Cite

Hussein, S. B., Jamaluddin, H., & Mailah, M. (2018). AN INTELLIGENT METHOD TO ESTIMATE THE INERTIA MATRIX OF A ROBOT ARM FOR ACTIVE FORCE CONTROL USING ON-LINE NEURAL NETWORK TRAINING SCHEME. Jurnal Mekanikal, 8(2). Retrieved from https://jurnalmekanikal.utm.my/index.php/jurnalmekanikal/article/view/281

Issue

Issue 8: December 1999

Section

Mechanical

License

Copyright of articles that appear in Jurnal Mekanikal belongs exclusively to Penerbit Universiti Teknologi Malaysia (Penerbit UTM Press). This copyright covers the rights to reproduce the article, including reprints, electronic reproductions or any other reproductions of similar nature.