NARX-NN MODEL OF 2-DOF ROBOT ARM DYNAMICS DRIVEN BY FLUIDIC MUSCLES

Abstract

The article contains the results of identification of manipulator arm dynamics that is driven by pneumatic artificial muscles (specifically, fluidic muscles). The NARX architecture model - a multilayer perceptron network (MLP model) was selected for identification. Simulations were realized using MATLAB, especially with use the System Identification Toolbox. The simulation results were tracked at 3 different delays for the upper and lower axis of the manipulator separately. The NRMSE criterion (Normal Root Mean Square Error) serves to compare simulation results by comparing output of simulations and measured output data.

Recommended articles

LASER INDUCED DAMAGE THRESHOLD TESTING AT HILASE

pavel Cech, Jan Vanda, Mihai-George Muresan, Martin Mydlar, Katerina Pilna, Jan Brajer
Keywords: AA5083 | ISO | laser testing | laser damage | Laser | LIDT

EFFECT OF SELECTED FACTORS ON MASS CONCENTRATION OF AIRBORNE DUST DURING WOOD SANDING

Miroslav Dado, Lucia Mikusova, Marian Schwarz, Richard Hnilica
Keywords: photometer | workplace air | real-time measurement | concentration | aerosol | safety

INFLUENCE OF GRAPHITE TOOL ELECTRODE SHAPE ON TWR AND MRR AT EDM

Luboslav Straka, Gabriel Dittrich
Keywords: Electrical Discharge Machining (EDM) | Material Removal Rate (MRR) | Tool Wear Rate (TWR) | Tool Electrode (TE)

METHODOLOGY FOR RISK ASSESSMENT OF NOISE EFFECTS AT WORKPLACE

Michaela Balazikova, Miriam Andrejiova, Barbora Wysoczanska
Keywords: workplace safety | non-auditory noise effects | risk | noise