Publication detail

FORWARD KINEMATICS MODELLING OF A PARALLEL DEVICE FOR CORD IMPLANTS TUNING

ANDRŠ, O. KOVÁŘ, J.

Original Title

FORWARD KINEMATICS MODELLING OF A PARALLEL DEVICE FOR CORD IMPLANTS TUNING

Czech Title

Modelování přímé kinematické úlohy pro zkušební zařízení implantátů

English Title

FORWARD KINEMATICS MODELLING OF A PARALLEL DEVICE FOR CORD IMPLANTS TUNING

Type

conference paper

Language

en

Original Abstract

This contribution presents an efficient approach to the fuzzy logic modeling of the forward kinematic solution for parallel mechanism device which is used for cord implants tuning. The proposed simulation fuzzy model of forward kinematic solution is derived from analytical form of the inverse kinematic solution. The simulation fuzzy model is based on anfis (adaptive neuro-fuzzy inference system) training routine. It utilizes a combination of the least-squares method and the backpropagation gradient descent method for training FIS membership function parameters to emulate a given training data set. The proposed fuzzy logic simulation model of forward kinematics is used for computation of reference position and orientation device movable plate.

Czech abstract

Tento příspěvek přináší efektivní postup modelování přímé kinematické úlohy paralelního testovacího zařízení pro zkoušení implantátů. Popisované řešení fuzzy modelu vycházi z analytické formy inverzní kinamatické úlohy. Simulační fuzzy model je založen na použití anfis algoritmu, který spojuje metodu nejmenších čtverců a backpropagation gradientní metodu při emulaci trénovacích dat. Předložený fuzzy model je použit pro výpočet referenční polohy a natočení pohyblivé plošiny zařízení.

English abstract

This contribution presents an efficient approach to the fuzzy logic modeling of the forward kinematic solution for parallel mechanism device which is used for cord implants tuning. The proposed simulation fuzzy model of forward kinematic solution is derived from analytical form of the inverse kinematic solution. The simulation fuzzy model is based on anfis (adaptive neuro-fuzzy inference system) training routine. It utilizes a combination of the least-squares method and the backpropagation gradient descent method for training FIS membership function parameters to emulate a given training data set. The proposed fuzzy logic simulation model of forward kinematics is used for computation of reference position and orientation device movable plate.

Keywords

Forward kinematics modeling, parallel robot, anfis routine, fuzzy modelling

RIV year

2013

Released

26.06.2013

Location

Brno, ČR

ISBN

978-80-214-4755-4

Book

19th International Conference on Soft Computing MENDEL 2013

Edition

1

Edition number

1

Pages from

283

Pages to

288

Pages count

6

BibTex


@inproceedings{BUT100659,
  author="Ondřej {Andrš} and Jiří {Kovář}",
  title="FORWARD KINEMATICS MODELLING OF A PARALLEL DEVICE FOR CORD IMPLANTS TUNING",
  annote="This contribution presents an efficient approach to the fuzzy logic modeling of the forward kinematic solution for parallel mechanism device which is used for cord implants tuning. The proposed simulation fuzzy model of forward kinematic solution is derived from analytical form of the inverse kinematic solution. The simulation fuzzy model is based on anfis (adaptive neuro-fuzzy inference system) training routine. It utilizes a combination of the least-squares method and the backpropagation gradient descent method for training FIS membership function parameters to emulate a given training data set. The proposed fuzzy logic simulation model of forward kinematics is used for computation of reference position and orientation device movable plate.",
  booktitle="19th International Conference on Soft Computing MENDEL 2013",
  chapter="100659",
  edition="1",
  howpublished="print",
  number="1",
  year="2013",
  month="june",
  pages="283--288",
  type="conference paper"
}