2021
DOI: 10.3390/sym13081445
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Identification and Machine Learning Prediction of Nonlinear Behavior in a Robotic Arm System

Abstract: In this study, the subject of investigation was the dynamic double pendulum crank mechanism used in a robotic arm. The arm is driven by a DC motor though the crank system and connected to a fixed side with a mount that includes a single spring and damping. Robotic arms are now widely used in industry, and the requirements for accuracy are stringent. There are many factors that can cause the induction of nonlinear or asymmetric behavior and even excite chaotic motion. In this study, bifurcation diagrams were us… Show more

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Cited by 5 publications
(4 citation statements)
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“…3, many discrete points appear and are dispersed in the figure, indicating multi-T subharmonic motion. (18) Thus, when K 1 = 0.25 and 0.6, the system undergoes stable motion as shown in Figs. 3(a) and 3(b), respectively.…”
Section: Phase Plots and Poincaré Mapsmentioning
confidence: 91%
See 1 more Smart Citation
“…3, many discrete points appear and are dispersed in the figure, indicating multi-T subharmonic motion. (18) Thus, when K 1 = 0.25 and 0.6, the system undergoes stable motion as shown in Figs. 3(a) and 3(b), respectively.…”
Section: Phase Plots and Poincaré Mapsmentioning
confidence: 91%
“…In this way, a Poincaré map is useful to distinguish between various types of motion. (18) In the Poincaré maps in Fig. 3, many discrete points appear and are dispersed in the figure, indicating multi-T subharmonic motion.…”
Section: Phase Plots and Poincaré Mapsmentioning
confidence: 93%
“…In ML classification, elements in the confusion matrix were used to calculate the accuracy, precision, recall, and F1 score. (10) True positive (TP), true negative (TN), false positive (FP), and false negative (FN) were used to determine the performance of the model as shown in Fig. 2.…”
Section: Diagnosismentioning
confidence: 99%
“…However, the models used in the above articles did not take into account the important phenomenon of joint compliance. In [14], a robotic arm model was adopted that took into account the elasticity of the joints, and the behaviour of the robotic arm was analysed assuming stiffness and damping coefficients as bifurcation parameters. Such a small amount of research in this area seems to be due to the approach to robot modelling, which usually uses the simplest models to analyse the main dynamic phenomena related to the movement of robot arms.…”
Section: Introductionmentioning
confidence: 99%