INTELLIGENT 2- LINK ROBOT ARM

M. MADHURI Regd No: Y4 PE 023 4/4 B.Tech Department of Production Engineering V.R. Siddhartha Engineering College Kanuru, Vijayawada-07 Mobile No. 9704362530 Email: chaya_prabha@yahoo.co.in

B.NAGA SUDHA RANI Regd No: Y4 PE 028 4/4 B.Tech Department of Production Engineering V.R. Siddhartha Engineering College Kanuru, Vijayawada-07 Mobile No.9490717654 Email: sudha.beha@yahoo.co.in

DEPARTMENT OF PRODUCTION ENGINEERING V.R.SIDDHARTHA ENGINEERING COLLEGE KANURU, VIJAYAWADA-07

ABSTRACT

Robots are widely used for different applications like welding, spray painting, assembling, medical applications, packaging, food industry etc. Robots do their task with their end effector. So it is essential to know the position coordinates. With the help of mathematical calculations we can find the end effector position coordinates i.e P(x, y). In order to provide intelligence to the robot arm we can use neural network techniques to find end effector position .There are wide variety of techniques, adapted to create intelligence for the robot arm. An Artificial Neural Network (ANN) is an information processing paradigm that is inspired by the way biological nervous systems, such as the brain, process information. An ANN is configured for a specific application, such as pattern recognition or data classification, through a learning process. Here, the back propagation neural network technique is used to find end effector position of 2-link robot arm. A 2 link system is studied for the inter relation between the inclinations of links and the end End-effector position. The values are theoretically calculated for specific number of examples with different inclinations. These vales are assigned as inputs to train an ANN. The characteristics of ANN are varied to find the accuracy of the network in predicting the location corrections of end effector. In this network it was considered four input and two output processing elements, containing two hidden layers. The position of the end effector which was calculated from the back propa gation technique is compared with the values obtained by mathematical calculations.

INTRODUCTION
Neural networks are now a subject of interest to professionals in many fields and it

is also a tool for many areas of problem solving. Neural network has some of the features of biological neural network that is brain. Human brain, made up of vast network of computing elements called neurons. Brain organizes the huge number of neurons each with weak computing power, into a massively parallel complex network, which these neurons interact with each other dynamically to produce a powerful information processor. We can consider an artificial neural network (ANN) as a highly simplified model of the structure of the biological neural network. An artificial neural networks consists of several processing units (or artificial neurons) interconnected in a predetermined manner to accomplish a desired pattern recognition task. Neural network can perform massively parallel operations. Each of them having comparatively fewer steps. Neural network store information in the strength of the interconnection. In this new information is added by adjusting the interconnection strengths with out destroying the old information.

Figure.1 The general model of a processing unit consists of a summing part followed by an output part. The summing part receiver input values, weights each value, and computes a weighted sum. The weighted sum is called the activation value. The output part produces a signal form the activation value. The sign of the weight for each input determines whether the input is excitatory (positive weight) or inhibitory (negative weight). The input could be discrete or continuous data values and like wise the output also could be discrete or continuous.

Figure.2 LAYERS IN A NETWORK: All the network models have a layer of input neurons sole purpose of these neurons is to feed the input to the next layer of neurons in many networks. Neurons in the input layer may also do some processing operations as in recurrent or feedback network models. In some networks, input and output layers as same as in Hopfield model. Hopfield network makes an association between different patterns (hetero association) or associates a pattern with itself (autoassociation). If any layer is placed in between the input and output layers, it is referred to as a hidden layer in general, or as a layer with some special names to achieve certain performance of the network. Number of hidden layers is not limited except by the scope of the problem being addressed by the neural network. A layer is also some times called as a field. Based on the number of layers in a network, neural network models are classified into (a) single layer networks (b) two layer network (c) multilayer networks. A single layer network is capable of processing for some important applications such as integrated circuit implementation or assembly line control. The most common capability of different neural network models which are pattern recognition features can be performed effectively by single layer neural network model. It is possible to combine two or more neural networks into one network by creating appropriate connections between layers of one sub-network to those of the others. This would also create a multi layer network. In some networks, every neuron is connected to one another, but the connections are between the neurons in one layer and those in the next layer. In the former case, the connections are described as being lateral. In the latter case , the connections are forward and the signals are fed forward Within the network .In other cases ,all the neurons in any layer may have extra connections ,with each neuron connected itself 4

.Another possibility is that there are connections from the neurons in one layer to the neurons in a previous layer ,in which case there is both forward and backward signal feeding ,where the feedback is a feature for network model .Thus the type of layout for the network neurons and the type of connections between the neurons constitute the architecture of the particular model of the neural network. BACK PROPAGATION: Back Propagation learning emerged as the most significant result in the field of ANNs .The training patterns are applied in some random order one by one and the weights are adjusted using the Back Propagation learning law .Each application of the training set patterns is called a cycle .The patterns may have to be applied for several training cycles to obtain the output error to an acceptable low value .Once the network is trained ,it can be used to recall the appropriate pattern for a new input pattern .The computation for recall is straight forward , in the sense that the weights and the output functions of the units in different layers are used to compute the activation values and the output signals .The signals from the output layer correspond to the output .The back propagation learning involves propagation of the errors backwards from the output layer to the hidden layer .The error at the output layer itself is computed using the difference between the desired output and actual output at each of the output units .The actual output for given input training pattern is determined by computing the outputs of units for each hidden layer in the forward pass of the input data .Note that the error in the input is propagated backwards only to determine weights updates .There is no feedback of the signal itself at any stage as it is a feed forward neural network . An introduction to robotics: Most of the Artificial intelligence (AI) will eventually leads to Robotics .Most neural networking, epitome of robotics. A robot is a reprogrammable ,multifunctional manipulator designed to move materials ,parts ,tools or specialized devices through various programmed motions for the performance of a variety of tasks .Robot has five main parts .They are arm ,controller ,drive, End-effector and sensor .The arm of the robot is a significant part of the robotic architecture .It positions the endeffector and sensors that the robot will requires .Most arms resemble the human limb .some of these arms have many complex parts including fingers ,wrists and elbows .This enables the robot different methods of 5 natural language processing, image recognition, speech recognition/synthesis research aims at eventually incorporating their technology into the

movement . The controller functions as the brain of the robot .It can also network to other systems so that the robot may work together with other robots or machines .The drive is the engine of robot .It enables the mobility and movement between the joints the arm .The endeffector is the hand connected to arm .In human, the end effector is the hand .However in robots the endeffector can be of many different things .Sensor provide a robot with feedback. APPLICATIONS: 1. Welding: welding is the one of the major uses for a industrial robot. Two distinct types of welding operations are readily and economically performed by robots and they are spot welding and arc welding. 2. Spray Painting: the spray painting operation is one that human beings should not perform both because of potential fire hazard and the fact that a fine mist of paint is carcinogenic. The advantage of using robot for spray painting is that the resultant coating will be far more uniform than a human being could ever produced. 3. Grinding: one of the important grinding task is an metal castings. Here the robot is taught the correct shape of the casting using continuous path programming. Some of the applications of robot include part handling / transfer, assembly operations, parts sorting, parts inspection etc

LITERATURE REVIEW
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Saad, M. Bigras, P. Dessaint, L.- A. Al-Haddad, K.[1]

Apr 1994

This paper studies the trajectory tracking problem to control the nonlinear dynamic model of a robot using neural networks. These controllers are based on learning from input-output measurements and not on parametric-model-based dynamics. Multilayer recurrent networks are used to estimate the dynamics of the system and the inverse dynamic model. The training is achieved using the back propagation method. The minimization of the quadratic error is computed by a variable step gradient method. Another multilayer recurrent neural network is added to estimate the joint accelerations. The control process is applied to a two degree-of-freedom (DOF) SCARA robot using a DSP-based controller. Experimental results show the effectiveness of this approach. Ogawa,T.;Matsuura,H.;Kanada,[2]28-30Nov.,2005 The network inversion solves inverse problems using a multilayer neural network. The inverse kinematics to estimate the joint angles of the robot arm from the end effectors coordinate is an inverse problem .In this study, the network inversion is applied to the inverse kinematics that estimates joint angles of robot arm. The inverse problems are often difficult to solve because of the ill-posed ness. The regularization method is necessary to solve the ill-posed inverse problem. In this study, the regularization method is examined to solve the ill-posedness. Manipulator joints are free of chattering.

US Patent Issued [3] Sep.10,

1996

A robot controller for an articulated robot, in which a joint angle vector indicating target joint angles of respective joints of the robot is calculated, based on a target position matrix indicating a desired target position, and the robot is controlled ill accordance with the joint angle vector. The robot controller is further provided with a neural network for compensating the target position so as to reduce the positioning error. The learning operation of the neural network is repeatedly carried out at predetermined intervals during the operation of the robot. The target position may be preliminarily compensated using a mathematical model.
Narendra, K.S. Parthasarathy, K.[4]13-15

Dec., 1989

In recent years, multilayer neural networks and recurrent networks have emerged as important components for representing nonlinear transformations and have proved particularly successful in pattern recognition and optimization problems. The authors explore methods for incorporating such networks in adaptive systems for the identification and control of complex nonlinear dynamical systems

DESCRIPTION OF THE PROBLEM

In robotic-control applications, neural networks can provide tools for system identification, including forward and inverse plant identification. In practical use of manipulators, two fundamental operations that relate to the

location of the end effector are forward and inverse kinematics. The forward kinematics problem is to compute the position and orientation of the end effector ( tool frame relative to base frame) when asset of joint angles is given. On the other hand, in inverse kinematics problem for a given position and orientation of the end effector, it is necessary to calculate all possible sets of joint angles which could be used to attain this given position and orientation. Solving the forward kinematics problem is straight forward. A systematic and generalized approach of utilizing matrix algebra to describe and represent the spatial geometry of links of a robot with respect to affixed reference frame is available. Inverse kinematics is not as simple as forward kinematics as they are the multi-solution problems. Because of its higher non-linear characteristics, the solution of inverse kinematics is not always easy or even possible in a closed form. Many works have been published to solve the kinematics problem of robot manipulators using neural networks. Most of the works applied neural networks to approximate the complicated inverse kinematics solution. Factor that affect the accuracy of most neural networks are the presence of mapping errors and local minima. It is proved that by iteratively applying a network that calculates incremental rather than absolute joint parameters improves the performance by an order of magnitude. Hence usually the networks in robotics application are trained with incremental data. The figure shows a two link planner arm. This two link problem is very simple, its ease of solution by conventional methods makes it very test case. The feasibility of the method solves a more complex problem. Forward kinematics solution of two link arm is

X = l1cos1+l2cos (1+ 2) y = l1sin1+l2sin (1+ 2)

But there are two inverse kinematics joint solutions for one location in Cartesian space. The two solutions, namely elbow-up and elbow-down are respectively obtained by conventional trigonometry as

d?1

Figure.3 The process of reaching each intermediate location along a path is described by four stages 1. A network learns the input output relations between the Cartesian positions, the incremental Cartesian position and the incremental joint angles for selected points across the whole robot volume.

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0100090000037800000002001c00000000000400000003010800050000000b02000000 00050000000c026b0bac0e040000002e0118001c000000fb021000070000000000bc020 00000000102022253797374656d000bac0e0000e6b30000985c110004ee8339c09a3202 0c020000040000002d01000004000000020101001c000000fb029cff0000000000009001 000000000440001254696d6573204e657720526f6d616e0000000000000000000000000 000000000040000002d010100050000000902000000020d000000320a5900000001000 40000000000a60e6d0b20922d00040000002d010000030000000000 Figure No. 4, Network architecture for obtaining joint angles 2. Assuming that the arm moves from the point (x, y) to (xc, yc). Incremental values (dx, dy) are calculated and used to predict the corresponding incremental joint angles (d1, d2) using neural network. New joint angles 1, 2 are calculated by adding the increments to the previous angles as follows

' = 1 +d 1 1 ' = 2 +d 2 2
3. Forward kinematics model calculates the new Cartesian positions of the end effector (x, y) that corresponds to these joint angles. 4. If the distance between (xc, yc) and (x,y) is greater than the acceptable error , than the new incremental distances are calculated and fed to the network as inputs to compute additional joint increments. The iterative procedure is repeated until the error is under acceptable limits. A new point is selected and stages 2 to 4 are to be repeated until the required end point is reached. For example to trace a straight line from (-0.3,0.9 ) to (0.5,0.1 ) equally spaced Cartesian points along the test line are regarded as the intermediate positions that the end effector of 2-link arm actually moves to it the iterative process can be stopped at appropriately low value of Cartesian root mean square error.

dx ' = xc x '
dy ' = yc y '

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0100090000037800000002001c00000000000400000003010800050000000b02000000 00050000000c026b0bac0e040000002e0118001c000000fb021000070000000000bc020 00000000102022253797374656d000bac0e0000e6b30000985c110004ee8339c09a3202 0c020000040000002d01000004000000020101001c000000fb029cff0000000000009001 000000000440001254696d6573204e657720526f6d616e0000000000000000000000000 000000000040000002d010100050000000902000000020d000000320a5900000001000 40000000000a60e6d0b20922d00040000002d010000030000000000

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0100090000037800000002001c00000000000400000003010800050000000b02000000 00050000000c026b0bac0e040000002e0118001c000000fb021000070000000000bc020 00000000102022253797374656d000bac0e0000e6b30000985c110004ee8339c09a3202 0c020000040000002d01000004000000020101001c000000fb029cff0000000000009001 000000000440001254696d6573204e657720526f6d616e0000000000000000000000000 000000000040000002d010100050000000902000000020d000000320a5900000001000 40000000000a60e6d0b20922d00040000002d010000030000000000

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0100090000037800000002001c00000000000400000003010800050000000b02000000 00050000000c026b0bac0e040000002e0118001c000000fb021000070000000000bc020 00000000102022253797374656d000bac0e0000e6b30000985c110004ee8339c09a3202 0c020000040000002d01000004000000020101001c000000fb029cff0000000000009001 000000000440001254696d6573204e657720526f6d616e0000000000000000000000000 000000000040000002d010100050000000902000000020d000000320a5900000001000 40000000000a60e6d0b20922d00040000002d010000030000000000

RESULTS
Table.1, Table for desired angles and displacements of two link planar arm

S.NO.
1 2

Dx
-0.00107 -0.00183 -0.0032

dy
0.017421 0.034857 0.052256

d1
0 1 1

d 2
1 0 1

x
1.99802 1.99802 1.99802

y
0.87235 0.87235 0.87235

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4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24

-0.00487 -0.00426 -0.00593 -0.00791 -0.00102 -0.00076 -0.00213 -0.0038 -0.0032 -0.00487 -0.00685 -0.00912 -0.00137 -0.00304 -0.00244 -0.00411 -0.00608 -0.00836 -0.00167 -0.00107 -0.00274

0.069629 0.069677 0.087049 0.10439 0.121694 0.017436 0.034836 0.052208 0.052256 0.069629 0.08697 0.104274 0.017399 0.034772 0.03482 0.052193 0.069533 0.086837 0.017373 0.017421 0.034793

1 2 2 2 2 1 1 1 2 2 2 2 0 0 1 1 1 1 0 1 1

2 0 1 2 3 -1 0 1 -1 0 1 2 1 2 0 1 2 3 1 -1 0

1.99802 1.99802 1.99802 1.99802 1.99802 1.996955 1.996955 1.996955 1.996955 1.996955 1.996955 1.996955 1.996194 1.996194 1.996194 1.996194 1.996194 1.996194 1.994824 1.994824 1.994824

0.87235 0.87235 0.87235 0.87235 0.87235 0.10465 0.10465 0.10465 0.10465 0.10465 0.10465 0.10465 0.122092 0.122092 0.122092 0.122092 0.122092 0.122092 0.139429 0.139429 0.139429

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25 26 27 28 29 30 31 32 33 34 35 36

-0.00471 -0.00699 -0.00061 -0.00107 -0.00304 -0.00532 -0.00167 -0.00365 -0.00593 -0.00198 -0.00425 -0.00228

0.052134 0.069438 0.000048 0.017421 0.034761 0.052065 0.017373 0.034714 0.052017 0.017341 0.034645 0.017304

1 1 1 1 1 1 0 0 0 0 0 0

1 2 -2 -1 0 1 1 2 3 1 2 1

1.994824 1.994824 1.993151 1.993151 1.993151 1.993151 1.993759 1.993759 1.993759 1.992086 1.992086 1.99011

0.139429 0.139429 0.156864 0.156864 0.156864 0.156864 0.156912 0.156912 0.156912 0.174285 0.174285 0.191626

Output for the above problem given to neural networks is by applying back propagation and taking two hidden layers. Processing elements in first layer Algorithm Levenbergmarquard Training minimum standard error Testing minimum standard error Testing Correlation coefficient = 1.08e-27 = 1.08e-27 d1 = 49.4%, d 2 = 55.8% = 86.66% for both d1 and d 2 = 10 elements Processing elements in second layer = 5 elements

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CONCLUSIONS AND FUTURE SCOPE

Conclusions: The end effector position coordinates are compared with mathematical analysis report and neural networks report. The neural network reports are all most all equal to the mathematical analysis report .Hence we can create intelligence to the two link robot arm through back propagation neural network technique. Future scope: Different algorithms like Adapt Resonance Theory; Kohenens rule etc can be adapted for the same and optimize the end effector position coordinates REFERENCES:

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1. Neural networks Algorithms and applications by M.Ananda Rao and J.Srinivas. 2. Neural Networks and Fuzzy Systems by Bart Kosko. 3. An introduction to robotics by Richard c klafter. 4. www.neurosolutions.com 5. www.nd.com. 6. www ieeexplore.ieee.org 7. Neural Network Fundamentals with Graphs, Algorithms and Applications By N.K Bose and P.Liang.

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