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Solving the forward kinematics of cable-driven parallel robots with neural networks and interval arithmetic

 
: Schmidt, Valentin; Müller, Bertram; Pott, Andreas

:

Thomas, F.:
Computational kinematics. 6th International Workshop on Computational Kinematics, CK 2013. Proceedings : Barcelona, 12 to 15, May 2013
Dordrecht: Springer Science+Business Media, 2014 (Mechanisms and Machine Science 15)
ISBN: 978-94-007-7213-7 (Print)
ISBN: 978-94-007-7214-4 (Online)
ISBN: 94-007-7213-0
S.103-110
International Workshop on Computational Kinematics (CK) <6, 2013, Barcelona>
European Commission EC
FP7; 285404; CableBot
Englisch
Konferenzbeitrag
Fraunhofer IPA ()
cable-driven parallel robot; neural network; kinematics; Roboter; Kinematik

Abstract
This paper investigates a new approach for solving the forward kinematics of cable-driven parallel robots. This approach combines an interval algorithm with neural networks to provide a fast but accurate initial guess. The neural networks increase the computation speed by a factor of 200 or more, while the interval algorithm provides guaranteed convergence and a definite solution to any chosen degree of accuracy. Iterative techniques are faster still, but the proposed algorithm is considered real-time feasible.

: http://publica.fraunhofer.de/dokumente/N-307145.html