Solving Kinematics of a Parallel Manipulator Using Artificial Neural Networks

Khattab, Yasmin; Zidane, Iham F.; El-Habrouk, Mohamed; Rezeka, Sohair F.

doi:10.1109/iccta54562.2021.9916234

Cited by 2 publications

(2 citation statements)

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“…The manipulator has 3 DOFs corresponding to rotation about x-axis (E x ), y-axis (E y ), and translation along the z-axis (P z ). To avoid the computational complexity of solving the manipulator's kinematics in real-time application, two feed-forward artificial neural networks (ANNs) are used as forward and inverse kinematics estimators [194,195]. The dynamic model of the 3-PUU manipulator is built using MATLAB Simscape environment, and several control schemes are investigated.…”

Section: Technical Control Strategies Of Laparoscopic Robots In Selec...mentioning

confidence: 99%

Robotics in laparoscopic surgery - A review

et al. 2022

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Because of the increasing use of laparoscopic surgeries, robotic technologies have been developed to overcome the challenges these surgeries impose on surgeons. This paper presents an overview of the current state of surgical robots used in laparoscopic surgeries. Four main categories were discussed: handheld laparoscopic devices, laparoscope positioning robots, master–slave teleoperated systems with dedicated consoles, and robotic training systems. A generalized control block diagram is developed to demonstrate the general control scheme for each category of surgical robots. In order to review these robotic technologies, related published works were investigated and discussed. Detailed discussions and comparison tables are presented to compare their effectiveness in laparoscopic surgeries. Each of these technologies has proved to be beneficial in laparoscopic surgeries.

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Section: Technical Control Strategies Of Laparoscopic Robots In Selec...mentioning

confidence: 99%

Robotics in laparoscopic surgery - A review

et al. 2022

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“…An artificial neural network solution approach for the kinematics of a parallel manipulator is presented by Khattab et. al [8]. In this study, forward and inverse kinematics solutions of the 3 limbs of prismatic-universal structure is introduced by using two artificial neural network algorithms.…”

Section: Introductionmentioning

confidence: 99%

Two-Position Synthesis of the Four-Bar Planar Linkage Mechanisms Using Artificial Neural Networks

Denizhan¹

2023

ICAENS

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The four-bar linkage mechanism is a fundamental and widely recognized mechanism with diverse applications, including various vehicle components, rehabilitation robotics, and rotary and reciprocating engines. Traditional textbooks introduce graphical and analytical solutions for the kinematic synthesis problem of the four-bar mechanism in different positions, while research articles explore its applications in various fields. Recently, artificial neural network (ANN) methods have gained popularity across different research domains. Researchers have proposed different solution approaches using ANN algorithms for the inverse and forward kinematic analysis problems of these mechanisms. However, the specific use of ANN algorithms for solving the two-position kinematic synthesis problem of the four-bar planar linkage mechanism has not been explored yet. This study aims to address this gap by introducing a solution for the two-position kinematic synthesis problem of the four-bar planar linkage mechanism using an artificial neural network algorithm. The Levenberg-Marquardt backpropagation neural network algorithm is chosen due to its speed, combination of Gauss-Newton training algorithm and steepest descend method, and ability to provide stable convergence of the training error. The neural network algorithm is trained, validated, and tested using a total of 50 randomly split data sets. Additionally, an additional test is conducted using all 50 data sets to evaluate the performance of the trained neural network algorithm. The study presents and discusses the results of the artificial neural network algorithm solution.

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Solving Kinematics of a Parallel Manipulator Using Artificial Neural Networks

Cited by 2 publications

References 0 publications

Robotics in laparoscopic surgery - A review

Robotics in laparoscopic surgery - A review

Two-Position Synthesis of the Four-Bar Planar Linkage Mechanisms Using Artificial Neural Networks

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