A Dynamic Feedback Neural Model for Identification of the Robot Manipulator

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dc.contributor.authorAy, Mustafa
dc.contributor.authorKoca, Gonca Ozmen
dc.date.accessioned2026-08-12T16:41:05Z
dc.date.issued2018
dc.departmentFırat Üniversitesi
dc.description12th International Conference on Mechatronics -- SEP 06-08, 2017 -- Brno, CZECH REPUBLIC
dc.description.abstractRobot manipulators are very powerful industrial systems. These systems are used in many different industrial applications. Since the derivation of the mathematical model of a robot manipulator has complex processing load, a suitable neural model can be designed. In this paper, both inverse and forward kinematics equations of a six degree of freedom ( DoF) robot manipulator are given and also adapted to MATLAB environment with a graphical user interface to identify behaviors of the robot manipulator. At the same time, a multilayer artificial neural model is proposed to provide the robot manipulator identification. Back-propagation learning algorithm is used to train dynamic feedback neural model based on NARX network structure. The experimental results are presented to show the performance of the dynamic feedback neural model.
dc.description.sponsorshipBrno Univ Technol
dc.identifier.doi10.1007/978-3-319-65960-2_43
dc.identifier.endpage355
dc.identifier.isbn978-3-319-65960-2
dc.identifier.isbn978-3-319-65959-6
dc.identifier.issn2194-5357
dc.identifier.issn2194-5365
dc.identifier.orcid0000-0003-1750-8479
dc.identifier.orcid0000-0002-9056-9975
dc.identifier.scopus2-s2.0-85029218448
dc.identifier.scopusqualityN/A
dc.identifier.startpage347
dc.identifier.urihttps://doi.org/10.1007/978-3-319-65960-2_43
dc.identifier.urihttps://hdl.handle.net/11508/45678
dc.identifier.volume644
dc.identifier.wosWOS:000554435500043
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherSpringer International Publishing Ag
dc.relation.ispartofMechatronics 2017: Recent Technological and Scientific Advances
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WoS_20260511
dc.subjectRobot manipulator
dc.subjectNeural model
dc.subjectBack-propagation
dc.subjectNARX network
dc.subjectGraphical user interface
dc.titleA Dynamic Feedback Neural Model for Identification of the Robot Manipulator
dc.typeConference Object

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