GA-SVM and MLP-BBO to Estimate Robot Manipulator Joint Angles
Amel Serrat1, Mohamed Benyettou2
1Amel SERRAT, LAMOSI, Department of Computer Sciences, University Of Sciences and Technologies Oran, Algeria.
2Mohamed Benyettou, LAMOSI, Department of Computer Sciences, University Of Sciences and Technologies Oran, Algeria.
Manuscript received on October 26, 2013. | Revised Manuscript received on November 02, 2013. | Manuscript published on November 05, 2013. | PP: 231-234 | Volume-3 Issue-5, November 2013. | Retrieval Number: E1911113513/2013©BEIESP
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© The Authors. Published By: Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The kinematic of serial manipulators comprises the study of the relations between joint variables and Cartesian variables. We distinguish two problems, commonly referred to as the direct and inverse kinematic problems. The former reduces matrix multiplications, and poses no major problem. The inverse kinematic problems, however, is more challenging, for it involves intensive variable-elimination and nonlinear-equation solving. In this work, we have used Support Vector Machine with Genetic Algorithm and and Multi Layer Perceptron (MLP) with Biogeography-Based Optimization(BBO) to solve the inverse problem on a manipulator arm, to determine its various articulations. The results of simulation are presented to show the validity of approaches suggested above.
Keywords: Support Vector Machine, Genetic Algorithm, BBO algorithm, MLP, inverse kinematic, minimally invasive surgery.