Publication detail
FORWARD KINEMATICS MODELLING OF A PARALLEL DEVICE FOR CORD IMPLANTS TUNING
ANDRŠ, O. KOVÁŘ, J.
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 in Czech
modelování přímé kinematické úlohy, paralelní stroje, anfis, fuzzy modelování
Keywords in English
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
ISSN
1803-3814
Book
19th International Conference on Soft Computing MENDEL 2013
Volume
2013
Number
1
Edition number
1
Pages from–to
283–288
Pages count
6
BIBTEX
@inproceedings{BUT100659,
author="Ondřej {Andrš} and Jiří {Kovář},
title="FORWARD KINEMATICS MODELLING OF A PARALLEL DEVICE FOR CORD IMPLANTS TUNING",
booktitle="19th International Conference on Soft Computing MENDEL 2013",
year="2013",
volume="2013",
number="1",
month="June",
pages="283--288",
address="Brno, ČR",
isbn="978-80-214-4755-4",
issn="1803-3814"
}