Evolutionary Optimization of Fuzzy Reinforcement Learning and Its Application to Time-Varying Tracking Control of Industrial Parallel Robotic Manipulators

Huang, Hsu‐Chih; Chen, Yuxiang

doi:10.1109/tii.2023.3248120

Cited by 9 publications

(4 citation statements)

References 29 publications

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“…Double prismatic robotic manipulators are extensively utilized in a variety of industries due to their ability of providing linear motion in two directions. This enables precision and flexibility control of the manipulator's end-effector [9,16,[66][67][68][69][70][71][72]. One of the main benefits of double prismatic joints is their capability to support heavy loads, which makes them very well suited for handling heavy materials in manufacturing industries [73][74][75][76].…”

Section: Literature Reviewmentioning

confidence: 99%

Modelling and simulation of a prismatic: prismatic robotic arm manipulator

Ballous

Messaoud

Al-Shabi

2023

Unmanned Systems Technology XXV

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Robotic manipulators involve the motion in 3D space. The motion of the manipulator is usually done through rotational movements using rotational joints, and/or through translational movements using prismatic joints. In this work, a prismatic-prismatic robotic arm is modeled in a matrix form and then it is simulated through MATLAB©. The simulation solves the dynamic of the system numerically. The motion of the manipulator's end-effector of the double prismatic joints is observed.

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Section: Literature Reviewmentioning

confidence: 99%

Modelling and simulation of a prismatic: prismatic robotic arm manipulator

Ballous

Messaoud

Al-Shabi

2023

Unmanned Systems Technology XXV

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“…Thanks to their closed-loop structure, parallel mechanisms have many important capabilities such as highly accurate positioning, working under high loads, and performing high-speed and high-acceleration tasks [1,2]. For these reasons, they are more and more preferred in simulator technologies [3,4], industrial robots [5,6], machining [7−9], additive manufacturing [10,11], medical and surgical robotics [12−14].…”

Section: Introductionmentioning

confidence: 99%

Path and trajectory planning of a RPRPR planar parallel robot for prevention of high-order singularities

ÖZDEMİR,

KARAKAYA

2024

Proc. Rom. Acad. Ser. A - Math. Phys. Tech. Sci. Inf. Sci.

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Parallel robots have many remarkable advantages over their conventional serial counterparts. Highly accurate positioning capability and high payload-to-weight ratio are among the main ones. The main factor underlying all these advantages is their closed-loop construction. However, this constructional feature also causes a special singularity problem, which constitutes their biggest disadvantage. Characteristic singularities classified as Type II exist inside their workspace, around which the magnitude of the inverse dynamic solution grows unboundedly. This naturally yields the saturation of the actuators and eventually in uncontrollability of the robot. Consequently, the whole workspace becomes impossible to be used. In order to pass through a Type II singularity, the consistency of the motion equations of the robot must be maintained at that singularity. However, any Type II singular configuration can transform into a high-order singularity, which, in order to be passed through, requires additional conditions other than the consistency. Therefore, full utilization of the whole workspace with a minimum number of conditions requires to avoid high-order singularities. The present article contributes to the literature by developing path and trajectory planning principles for preventing a two-degree-of-freedom planar parallel robot with RPRPR structure from experiencing high-order singularities.

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“…Moreover, the usage of the machine learning could you help losing weight and improve the life quality [13][14][15][16][17][18][19][20][21][22][23]. Moreover, metaheuristic algorithms, integrated with machine learning techniques [24][25][26][27][28][29][30][31][32][33][34][35][36], can optimize the selection of input parameters for WBV studies on weight loss and quality of life improvements, overcoming challenges related to standardized protocols and diverse parameter settings, and providing more consistent and reliable outcomes [37][38][39][40][41][42][43][44][45][46][47][48][49]. In this work, the work of [1,12] is extended to cover the effect of the human gender on the apparent mass.…”

Section: Introductionmentioning

confidence: 99%

Studying the gender effect on apparent mass during whole-body vibration using ANN

Al-Shabi

Nawayseh

2023

Smart Biomedical and Physiological Sensor Technology XX

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Artificial Neural Network (ANN) is a powerful tool to model a system using only the inputs and outputs of that system. In this paper, ANN is used to model the relation between the subject's gender to its performance while been excited in a whole-body vibration machine (WBV). For training the ANN, 20 male and 20 female subjects were observed during an experimental setup using a WBV at different vibration frequencies in the range of 20 to 45 Hz. The apparent mass was measured for the subjects at different frequencies. The input to the ANN includes body mass index, mass, and gender of the subjects along with and the excitation frequency. The ANN shows a good performance and extract the relationship with a performance that has a root mean squared error of the relative percentage error less than 9%.

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Evolutionary Optimization of Fuzzy Reinforcement Learning and Its Application to Time-Varying Tracking Control of Industrial Parallel Robotic Manipulators

Cited by 9 publications

References 29 publications

Modelling and simulation of a prismatic: prismatic robotic arm manipulator

Modelling and simulation of a prismatic: prismatic robotic arm manipulator

Path and trajectory planning of a RPRPR planar parallel robot for prevention of high-order singularities

Studying the gender effect on apparent mass during whole-body vibration using ANN

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