8346 34283 1 PB
8346 34283 1 PB
8346 34283 1 PB
Abstract Keywords:
As known as Parallel-Link Robot, Delta Robot is a kind of Manipulator Artificial Neural Network;
Robot that consists of three arms mounted in parallel. Delta Robot Delta Robot;
has a central joint constructed as an end-effector represented as a Inverse Kinematics;
Motion Data;
gripper. An Analysis of Inverse Kinematic (IK) used to convert the Socket.IO;
end-effector trajectory (X, Y) into rotations of stepper motors (ZA, ZB
and ZC). The proposed method used Artificial Neural Networks Article History:
(ANNs) to simplify the process of IK solver. The IK solver generated Received: May 20, 2020
the datasets contain motion data of the Delta robot. There are 11 KB Revised: August 22, 2020
Datasets consist of 200 motion data used to be trained. The Accepted: September 18, 2020
proposed method was trained in 58.78 seconds in 5000 iterations. Published: July 2, 2021
Using a learning rate (α) 0.05 and produced the average accuracy
was 97.48%, and the average loss was 0.43%. The proposed Corresponding Author:
Zendi Iklima
method was also tested to transfer motion data over Socket.IO with Electrical Engineering
115.58B in 6.68ms. Department, Universitas Mercu
Buana, Indonesia
This is an open access article under the CC BY-NC license Email:
[email protected]
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Figure 7. The ANN Loss and Accuracy in: (a) 1000 iterations, (b) 2500 iterations, and (c) 5000
iterations
Figure 8. The Testing Performance of Single Motion: (a) Motion Set 1, (b) Motion Set 2, (c) Motion Set
3, and Motion Set 4
Figure 7 shows the performance of the ANN and 5000 iterations. The loss was decreased by
Loss and Accuracy. The loss is presented as the 0.0043 in 5000 iterations, and the accuracy was
red line of the left graph, and the accuracy is increased by 0.9748 in 5000 iterations. This
presented as the blue line of the left graph. Figure iteration step was executed in 58.7826 seconds.
7(a) shows the loss decreased and the accuracy
increased in 1000 iterations. Figure 7(b) shows ANN Testing
the loss decreased and the accuracy increased in Single point of end-effector coordinated
2500 iterations. Figure 7(c) shows the loss tested as desired coordinated of 𝑥 and 𝑦 shown in
decreased and the accuracy increased in 5000 Figure 7.
iterations. The detailed values of ANN Loss and The proposed method was tested in single
accuracy were captured in this Table 2. desired coordinated as a set of motion. Figure 8
Table 2 shows the selected hyperparameter represents four motions that were tested in Figure
was performed in 1000 iterations, 2500 iterations, 8(a), Figure 8(b), Figure 8(c), and Figure 8(d). By
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given any input 𝑥 and 𝑦, will produce any desired algorithm performance to generate 50 motions in
actuators positions in Z-directions (𝑍𝐴 , 𝑍𝐵 , 𝑎𝑛𝑑 𝑍𝐶 ). the direction 𝑍𝐴 (Figure 9(a)), 𝑍𝐵 (Figure
The detailed values of ANN testing performance 9(b)), 𝑍𝐶 (Figure 9(c)), and combined (Figure 9(d)).
were captured in this Table 3.
The proposed method was implemented to
perform 𝑛 Motions and captured in actuator
direction 𝑍𝐴 , 𝑍𝐵 , 𝑎𝑛𝑑 𝑍𝐶 . Figure 9 shows the
Table 2. The ANN Loss and Accuracy in (a) 1000 iterations, (b) 2500 iterations, and (c) 5000 iterations
1000 iterations 2500 iterations 5000 iterations
Executed time (seconds) 12.5525 29.7373 58.7826
Num of Epoch 1000 2500 5000
Average Loss 0.0787 0.0131 0.0043
Average Accuracy 0.9322 0.9528 0.9748
Activation Function Leaky-ReLu Leaky-ReLu Leaky-ReLu
Optimizer Adam Adam Adam
Learning Rate (𝜶) 0.05 0.05 0.05
Layers 2 6 12 6 3 2 6 12 6 3 2 6 12 6 3
Figure 9. The Testing Performance of 50 Motions: (a) Motion Data of 𝑍𝐴 , (b) Motion Data of 𝑍𝐵 , (c)
Motion Data of 𝑍𝐶 And (d) Motion Data of 𝑍𝐴 , 𝑍𝐵 , and 𝑍𝐶
Figure 10. The Testing Performance of 100 Motions: (a) Motion Data of 𝑍𝐴 , (b) Motion Data of 𝑍𝐵 , (c)
Motion Data of 𝑍𝐶 And (d) Motion Data of 𝑍𝐴 , 𝑍𝐵 , and 𝑍𝐶
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