Abstract
This chapter discusses a method for the identification of dynamics and control of a multilink industrial robot manipulator using Runge-Kutta-Gill neural networks (RKGNNs). RKGNNs are used to identify an ordinary differential equation of the dynamics of the robot manipulator. A structured function neural network (NN) with subnetworks to represent the components of the dynamics is used in the RKGNNs. The subnetworks consist of shape adaptive radial basis function (RBF) NNs. An evolutionary algorithm is used to optimize the shape parameters and the weights of the RBFNNs. Due to the fact that the RKGNNs can accurately grasp the changing rates of the states, this method can effectively be used for long-term prediction of the states of the robot manipulator dynamics. Unlike in conventional methods, the proposed method can even be used without input torque information because a torque network is part of the function network. This method can be proposed as an effective option for the dynamics identification of manipulators with high degrees-of-freedom, as opposed to the derivation of dynamic equations and making additional hardware changes as in the case of statistical parameter identification such as linear leastsquares method. Experiments were carried out using a sevenlink industrial manipulator.
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Nanayakkara, T., Watanabe, K., Kiguchi, K., Izumi, K. (2003). Evolutionary Dynamics Identification of Multi-Link Manipulators Using Runge-Kutta-Gill RBF Networks. In: Reznik, L., Kreinovich, V. (eds) Soft Computing in Measurement and Information Acquisition. Studies in Fuzziness and Soft Computing, vol 127. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-36216-6_14
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DOI: https://doi.org/10.1007/978-3-540-36216-6_14
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