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The Noise and Acceleration Analysis of an Experimental Robot Manipulator

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 ARTICLE IN PRESS
Robotics and Computer-Integrated Manufacturing 26 (2010) 282–290

Contents lists available at ScienceDirect

Robotics and Computer-Integrated Manufacturing

journal homepage: www.elsevier.com/locate/rcim

Noise analysis of robot manipulator using neural networks

S- ahin Yildirim n, _Ikbal Eski
Erciyes University, Faculty of Engineering, Mechanical Engineering Department, Kayseri 38039, Turkey

a r t i c l e in f o a b s t r a c t

Article history: Due to a lot of robot manipulators application in industry, low noise degree is very important criteria for
Received 5 November 2007 robot manipulator’s joints. In this paper, joint noise problem of a robot manipulator with five joints is
Received in revised form investigated both theoretically and experimentally. The investigation is consisted of two steps. First
14 September 2009
step is to analyze the noise of joints using a hardware and software. The hardware is a part of noise
Accepted 13 October 2009
sensors. The second step; according to experimental results, some neural networks are employed for
finding robust neural noise analyzer. Five types of neural networks are used to compare each other.
Keywords: From the results, it is noted that the proposed RBFNN gives the best results for analyzing joint noise of
Noise the robot manipulator.
Robot manipulator
& 2009 Elsevier Ltd. All rights reserved.
Neural network
Robust neural noise analyzer

1. Introduction horizontal vibration based on system mode approach takes an

Neural network as a predictor has been widely used in the
process and robotic handling industries because it is robust.
Neural networks have been employed in various ways to
construct nonlinear systems to handle a variety of control
objectives. Typically, the key elements in their design procedure
are the proper choice of the functions to be approximated and an
appropriate control strategy that utilizes this approximation.
However, these strategies usually require the neural network-
based approximation to be sufficiently accurate.
Robot manipulators have become increasingly important in
the field of flexible automation and manufacturing system in
industrial applications such as material handling [1]. Program-
mability, high speed and high precision are some of the good
qualities they possess which are desirable for flexible automation.
Vibration analysis of robot manipulators has been investigated by
several researchers. Cheong and Youm [2] have proposed the
system mode analysis of horizontal vibration for 3-D two-link
flexible manipulators. For the analysis, the authors have for-
mulated and solved a set of partial differential equations which
represent vibration mixed with bending and torsional moment. In
their research, an examination and comparison between the two
joint conditions have been performed. Numerical and experi-
mental tests have showed the validity and effectiveness of the
proposed analysis and modeling. Cheong et al. [3] have suggested
the accessibility of horizontal vibration in a 3-D two-link flexible
robot shows configuration-dependent nature. The analysis of
n
Corresponding author.
E-mail address: sahiny@erciyes.edu.tr (S- . Yildirim).
important role in examining the vibration accessibility. Both
theoretical and numerical studies were presented to elucidate the
meaning of the accessibility and the identifiability of horizontal
vibration. In addition, the experimental results support the
theoretical results.
An effect of flexibility on the trajectory of a planar two-link
manipulator has studied using integrated computer-aided design/
analysis (CAD/CAE) procedures [4]. Chu et al. [5] have proposed a
new type of stepping piezoelectric micro-motor using wiggle
vibration mode and three-dimensional contacts between the rotor
and stator. A hybrid input shaping method to reduce the residual
swing of a simply suspended object transported by a robot
manipulator or the residual vibration of equivalent dynamic
systems has been studied by Kapucu et al. [6].
A 3-PPR planar parallel manipulator, which consists of three
active prismatic joints, three passive prismatic joints, and three
passive rotational joints, has been proposed [7]. The analysis of
the kinematics and the optimal design of the manipulator have
also been discussed and an example using the optimal design was
also presented.
A neural network has employed to analyze of inverse
kinematics of PUMA 560 type robot [8]. Callegari et al. [9] have
presented the inverse dynamics model of a novel translating
parallel machine and proposes the structure of a force controller
for the execution of tasks characterized by interaction with the
environment. The effect of miniaturization on two dynamic and
two quasi-static motion mechanisms has been experimentally
evaluated using a miniature piezoceramic drive unit [10]. A new
approach to the dynamic motion planning problems of mobile
robots in uncertain dynamic environments based on the behavior
dynamics from a control point of view was provided [11]. The

0736-5845/$ - see front matter & 2009 Elsevier Ltd. All rights reserved.
doi:10.1016/j.rcim.2009.10.001
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Nomenclature Nfn the corresponding neural network

nI number of neurons in the input layer
aI(i) the output of competitive layer nH number of neurons in the hidden layer
bj the bias of the jth neuron in the hidden layer nO number of neurons in the output layer
bk the bias of the kth neurons in the output layer rj the radius vector of the jth hidden unit
c the Coulomb friction constant T the target values
E1(t) the error between experimentally and neural network v the viscous friction constant
VðH; H_ Þ the vector of Coriolis terms
output signals
_ Þ the vector of velocity terms in Cartesian space
Vx ðH; H
E2(t) the propagation error between hidden layer and
output layer yj the output of the jth local network
f the input vector Wjk the weights between jth neurons hidden layer and kth
F the force-torque vector neurons output layer
g(  ) activation function Wij the weights between ith neurons input layer and jth
gj the normalized output vector elements of the gating neurons hidden layer
network X the appropriate Cartesian vector representing posi-
G(H) the vector of gravity terms tion and orientation of the end-effector
Gx(H) the vector of gravity terms in Cartesian space Zj(t) the output vector of the hidden layer
J(H) the Jacobian matrix Z learning rate
K the number of local networks a momentum term
M(H) the mass matrix of the manipulator DWij ðtÞ the weight variations matrices from i layer to j layer
Mx(H) the Cartesian mass matrix after update
N training numbers DWjk ðtÞ the weight variations matrices from j layer to k layer
n number of joints after update
Nf the experimentally obtained number of cycles to
failure

purpose of this paper is to obtain a neural network vibration _ Þ is a vector of velocity terms in Cartesian space, and
Vx ðH; H
analyzer and develop a robust neural network model for robot Gx(H) is a vector of gravity terms in Cartesian space. Note that the
manipulator’s end-effector under big payload conditions. fictitious forces acting on the end-effector, F, could in fact be
This paper is organized as follows: Section 2 describes the
theory of robot manipulators. Section 3 gives some details about
neural networks and the proposed neural network. The experi-
mental results and discussions are given in Section 4. Finally, this
paper is concluded with conclusions and discussion.

2. Robot manipulator

In this work, five degrees of freedom an industrial robot

manipulator is employed for analyzing vibration parameters of
joints are shown in Figs.1 and 2. The robot manipulator’s joints
are driven by servo motors for that reason; maximum speed of
robot manipulator’s end-effector is 2200 mm/s (see Table 1). The
positioning repetition accuracy of the robot manipulator is
70.02 mm. The maximum reach ability of the robot
manipulator’s end-effector is 410 mm. When the Newton–Euler
equations are evaluated for five-link robot manipulator, dynamic
equation can be written in the following form:
€ þ VðH; H
t ¼ MðHÞH _ Þ þ GðHÞ ð1Þ
where M(H) is the n  n mass matrix of the manipulator VðH; H _Þ
is the n  1 vector of centrifugal and Coriolis terms, G(H) is an
n  1 vector of gravity terms (n= 5). Each element of M(H) and
G(H) is a complex function which depends on H, the position of
all the joints of the manipulator. Each element of VðH; H _ Þ is a
complex function of both H and H _.
The dynamics of the robot manipulator with respect to
Cartesian variables can be expressed in the following form:
F ¼ Mx ðHÞX _ Þ þ Gx ðHÞ
€ þVx ðH; H ð2Þ
where F is a force-torque vector acting on the end-effector of the
robot, and X is an appropriate Cartesian vector representing
position and orientation of the end-effector. Analogous to the
joint space quantities, Mx(H) is the Cartesian mass matrix, Fig. 1. Experimental System Setup.
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Fig. 2. (a) Schematic description of robot manipulator and (b) gripper of end-effector of the robot manipulator.

applied by the actuators at the joints using the relationship and differentiating to obtain
T
s ¼ J ðHÞF ð3Þ X €
€ ¼ J_ þ JH ð7Þ
€
where the Jacobian, J(H), is written in the same frame as F and X, Solving (7) for joint space acceleration leads to
usually the tool frame, {T}. The inverse of the Jacobian transpose € ¼ J1 XJ
H _
€ 1 J_ H ð8Þ
to obtain
Substituting (8) into (5)
€ þJT VðH; H
J T s ¼ JT MðHÞH _ Þ þ JT GðHÞ ð4Þ € T MðHÞJ1 J_ H
F ¼ JT MðHÞJ1 XJ _ Þ þ JT GðHÞ
_ þ JT VðH; H ð9Þ
or
from which the expressions for the terms in the Cartesian
€ þ JT VðH; H
F ¼ JT MðHÞH _ Þ þ JT GðHÞ ð5Þ dynamics has been derived,
The relationship between joint space and Cartesian accelera- Mx ðHÞ ¼ JT ðHÞMðHÞJ1 ðHÞ
tion has been developed and starting with the definition of the _ Þ ¼ JT ðHÞ½VðH; H
_ Þ  MðHÞJ1 ðHÞJð _
Vx ðH; H _ HÞH ð10Þ
Jacobian,

X _
€ ¼ JH ð6Þ Gx ðHÞ ¼ JT ðHÞGðHÞ
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Table 1 where c is Coulomb friction constant. The value of c is often taken at

Standard specifications and dynamic parameters of the robot manipulator. one value when h_ ¼ 0, the static coefficient and at a lower value, the
dynamic coefficient, when h_ a0. Whether a joint of a particular
Item Unit Specifications
manipulator exhibits viscous or Coulomb friction are a complicated
Degree of freedom 5 issue of lubrication and other effects. A reasonable model is to include
Installation posture On floor both, since both effects are likely:
Structure Vertical, multiple-joint type
Drive system AC servo motor sfriction ¼ c sgnðh_ Þ þ vh_ ð13Þ
Position detection Absolute encoder
method It turns out that in many manipulator joints, friction also
displays a dependence on the joint position. A major cause of this
Arm length
Shoulder shift mm 0 effect might be gears which are not perfectly round (their
Upper arm 250 eccentricity would cause friction to change according to joint
Fore arm 160 position). So a fairly complex friction model would have the form
Elbow shift 0
Wrist length 72 sfriction ¼ fðh; h_ Þ ð14Þ
Operating range These friction models are then added to the other dynamic
J1 Degree 300( 150 to + 150)
terms derived from the rigid body model, yielding the more
J2 180( 60 to + 120)
J3 230( 110 to +120)
complete model
J4 180( 90 to + 90) € þ Vn ðH; H
_ Þ þ Gn ðHÞ þ Fn ðH; H
_Þ
J5 400( 200 to + 200)
sn ¼ Mn ðHÞH ð15Þ

Speed of motion
J1 Degree/ 180 2.1. Structure of the robot controller
s
J2 90
J3 135 Robot control process is the only process directly influencing
J4 180 the manipulator. It main task is to compute the set values for the
J5 210 five servo controllers. Currently the only influence on the
Maximum resultant mm/s 2100
dynamics of the system can be exerted by shaping the set values
velocity
to the axis servo controllers. The set values can be computed from
Load a prescribed trajectory expressed in Cartesian space, joint space or
Maximum kg 2
Rating 1.5
in motor increment space. In the case of Cartesian-Euler space,
Pose repeatability mm 7 0.02 axially-symmetric tools are assumed, as the robot has only five
Ambient 1C 0–40 DOF. The trajectories can also be computed from or modified
temperature according to virtual sensor readings. The experimental setup is
Mass kg 17
depicted in Fig. 3.
Allowable moment The hardware of the system consists of a 32-bit Intel P-D
load microprocessor-based computer and five 8-bit Intel 8080 micro
J4 Nm 2.16
J5 1.10
processors. Each of the 8-bit microprocessor-based servo-drives
MA-70 controls a DC electric motor actuating one of the five DOF
Allowable inertia
manipulator axes (see Fig. 4). The P4 processor is interfaced
J4 kg m2 3.24  10–2
J5 8.43  10–3 directly to the servo-drives. It transmits position increments to
Arm reachable mm 410 each one at them and receives feedback signals from them. The P4
radius
Tool wiring Four input signals, four output signals,
motorized hand output
Tool pneumatic Ø4  3
pipes
Supply pressure MPa 0.57 10% NN
Analyzer

The Jacobian appearing in Eq. (10) is written in the same frame Conveyor
System Robot Manipulator
as F and X in (2) though the choice of this frame is arbitrary. Note
that when the manipulator approaches a singularity, certain
quantities in the Cartesian dynamics become infinite.
In order to make dynamic equations reflect the reality of the
Microphone
physical device, it is important to model these forces of friction. A
very simple model for friction is viscous friction in which the
torque due to friction is proportional to the velocity of joint
motion [12]. Thus
Intelligent Data
sfriction ¼ vh_ ð11Þ Acquisition Card

where v is a viscous friction constant. Another possible simple model

for friction, Coulomb Friction, is sometimes used. Coulomb friction is Personal Computer
constant expect for a sign dependence on the joint velocity:

sfriction ¼ c sgnðh_ Þ ð12Þ Fig. 3. The setup used for the experiments and a schematic diagram.
 ARTICLE IN PRESS
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Fig. 4. Wiring and piping system diagram for the solenoid valve installation of control system.

processors bus is connected by a 16-bit parallel 800 kbaund
interface to the five servo motor controllers and I/O board 2A-
RZ365/2A-RZ375. The controller hardware structure of the system
is shown in Fig. 5.
3. Neural networks
Neural networks (NN) are made up of simple, highly
interconnected processing units called neurons each of which
performs two functions: aggregation of its inputs from other
neurons or the external environment and generation of an output
from aggregated inputs [13]. NN can be classified into two main
categories based on their connection structures: feedforward and
recurrent networks. Feedforward networks are the most com-
monly used type, mainly because of difficulty of training recurrent
networks, although the last mentioned are more suitable for
representing dynamical systems [14,15].
In this experimental investigation, feedforward neural
network type is used to noise analyze in a robot manipulator.
 ARTICLE IN PRESS
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5 DOF Robot Manipulator the output layer. Some supervised learning methods which are
Touch Probe
motor-resolves used to noise analyze in a robot manipulator, briefly described in
the following subsections.
The application of NN typically comprises two phases: a
learning phase and a testing phase. Learning is the process
Pneumatic Parallel I/O External I/O PLC (Programmable through which the parameters and structure of the network are
I/F Unit Cable Logic Controller) adjusted to reflect the knowledge contained within the distrib-
2A-RZ365 2A-RZ361 2A-CBL05 External device uted network structure. A trained network subsequently repre-
sents a static knowledge base which can be recalled during its
operation phase. There are three general learning schemes in
neural networks:

Expansion Extended CC-LINK I/F ETHERNET Additional  Supervised learning, for example, error back propagation
Option Box Serial I/F 2A-HR575E I/F 2A- Axis I/F
CR1-EB3 2A-RZ581E HR533E 2A-RZ541E which requires the correct output signal for each input vector
to be specified.
 Unsupervised, competitive learning or self-organizing, in
P4 Based PC Support which the network self-adjusts its parameters and structure
PC Software to capture the regularities of input vectors, without receiving
explicit information from the external environment.
 Reinforcement or graded learning in which the network
Fig. 5. Controller hardware structure.
receives implicit scalar evaluations of previous inputs.

j.neuron

3.1. Back propagation neural network (BPNN)

The BPNN is a method of supervised neural network learning.

During training, the network is presented with a large number of
input patterns. The experimental outputs are then compared to
i.neuron k.neuron
the neural network output nodes. The error between the
f (kHz) y (dBA)
nO experimental and neural network response is used to update
nI
Output Layer the weights of the network inter-connections. This update is
Input Layer
performed after each pattern presentation. One run through the
entire pattern set is termed an epoch. The training process
continues for multiple epochs, until a satisfactorily small error is
produced. The test phase uses a different set if input patterns. The
neural network outputs are again compared to a set of experi-
+1 +1 mental outputs. This error is used to evaluate the networks ability
Bias nH Bias to generalize. Usually, the training set and/or architecture needs
Hidden Layer to be assessed at this point. The BPNN is the most commonly used
: Linear neuron to update the weights of the neural networks. The weights
: Non-linear neuron between input layer and the hidden layer are updated as follows:
@E2 ðtÞ
Fig. 6. Schematic representation a feedforward neural network analyzer. DWij ðtÞ ¼  Z þ aDWij ðt  1Þ ð18Þ
@Wij ðtÞ

Fig. 6 shows schematic representation of neural network The weights between the hidden layer and the output layer are
updated in the following equation:
analyzer.
0 1 @E1 ðtÞ
1 X
X 10 DWjk ðtÞ ¼  Z þ aDWjk ðt  1Þ ð19Þ
@ @Wjk ðtÞ
zj ¼ g Wij fi þ bj A ð16Þ
i¼1j¼1 where Z is the learning rate, and a is the momentum term. E2(t) is
the propagation error between hidden layer and output layer.
where fj is the output of the jth neuron in the hidden layer, Wij is
E1(t) is the error between experimental and neural network
the weight of the connection between the input layer neurons and
output signals.
the hidden layer neurons bj is the bias of the jth neuron in the
hidden layer. bj can be regarded as the weight of the connection
between a fixed input of unit value and neuron j in the hidden 3.2. General regression neural network (GRNN)
layer. The function g(  ) is called the activation function of the
hidden layer. The output signal of the network can be expressed GRNN are paradigms of the Probabilistic and Radial Basis
in the following form; Function used in functional approximation. To apply GRNN to
0 ! analyze, an input vector f is formed. The output y is the weighted
10 X
X 1
average of the target values tk of training cases fi close to a given
yk ¼ g @ Wjk zj þ bk ð17Þ
input case f, as given by
j¼1k¼1
P10 P1
j¼1 k ¼ 1 zj Wjk
where Wjk are the weights between jth neurons hidden layer and yk ¼ P10 P1 ð20Þ
kth neurons output layer and bk is the bias of the kth neurons in j¼1 k ¼ 1 Wjk
 ARTICLE IN PRESS
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where 60

2
b9f  f i 9 c 40
Wjk ¼ exp
2h2
The only weights that need to be learned are the smoothing
20
parameters, h of the RBF units in Eq. (21), which are set

noise (dBA)
using a simple grid search method. The distance between the
computed value n and each value in the set of target values T is 0
given by

-20
T ¼ f1; 2g ð21Þ
The values 1 and 2 correspond to the training class and all
other classes, respectively. The class corresponding to the target -40
value with the minimum distance is chosen. As, GRNN exhibits a Experimental
BPNN
strong bias towards the target value nearest to the mean value m -60
of T so we used target values 1 and 2 because both have the same 0 20 40 60 80 100 120 140 160 180 200
absolute distance from m. frequency (kHz)

Fig. 7. Noise response of the system using BPNN and experimental approach.
3.3. Learning vector quantization neural network (LVQNN)

LVQNN is supervised neural network, which was developed by

Kohonen and is based on the Self-Organizing Map (SOM) or 50
Kohonen feature map, LVQNN methods are simple and effective
40
adaptive learning techniques. They rely on the nearest neighbor
classification model and are strongly related to the condensing 30
methods, where only a reduced number of prototypes are kept
20
from the whole set of samples. This condensed set of prototypes is
noise (dBA)

then used to classify unknown samples using the nearest 10

neighbor rule. LVQNN has a competitive and linear layer in the
0
first and second layer, respectively. The competitive layer learns
to classify the input vectors and the linear layer transforms the -10
competitive layer’s classes into the target classes defined by the
-20
user. In the learning process, the weights of LVQNN are updated
by the following Kohonen learning rule if the input vector belongs -30
to the same category
-40 Experimental
DWI ði; jÞ ¼ ZaI ðiÞðpðjÞ  WI ði; jÞÞ ð22Þ GRNN
-50
where Z is the learning ratio and aI(i) is the output of competitive 0 20 40 60 80 100 120 140 160 180 200
layer. frequency (kHz)

Fig. 8. Noise response of the system using GRNN and experimental approach.
3.4. Modular neural network (MNN)

MNN refer to the adaptive mixtures of local experts. The most

attractive point of MNN architecture is that different experts
handle different parts of the data. The problem of pattern
interference can be alleviated by this type of architecture. Each 60
local network receives the same input vector applied to the
network. A gating network determines the contribution of 40
each local network to the total output as well as what range of
the input space each network should learn. The outputs of the
local networks are combined to give the network output such 20
noise (dBA)

that:
X
K 0
yk ¼ gj yj ð23Þ
j¼1
-20
where K is the number of local networks, yj is the output of the
jth local network and gj are the normalized output vector
elements of the gating network given by -40
um
Experimental
e LVQNN
gj ¼ PK ð24Þ
j¼1 euj -60
0 20 40 60 80 100 120 140 160 180 200
where um is the weighted input received by the mth output frequency (kHz)
P
unit of the gating network. In Eq. (23), gj = 1 and 0 rgj r1. The
gating and local experts are trained to maximize the following Fig. 9. Noise response of the system using LVQNN and experimental approach.
 ARTICLE IN PRESS
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function using the learning rule; tion and threshold of the local networks as well as the connection
2 # weights and thresholds of the gating networks. The error for the
X
K 2 jth output of the gating network is calculated as:
y ¼ ln4 gj eð1=2Þ9Nf Nfn 9 ð25Þ
j¼1 @y
¼ hj  gj ð26Þ
@uj
where Nf is the experimentally obtained number of cycles to
failure and Nfn is the corresponding output given by the neural where hj is a posteriori probability that the jth local network is
network. The neural network simultaneously adjusts the connec- responsible for the current output such that
2 2
3
4 gj eð1=2Þ9Nf Nfn 9 5
hj ¼ P 2
ð27Þ
K ð1=2Þ9Nf Nfn 9
j ¼ 1 gj e
60
while the error for the jth local network is calculated as:
40  
@y @yj
¼ hj ðNf  yj Þ ; j ¼ 1; 2; . . .; K ð28Þ
@Ij @Ij
20
The training process is terminated either when the mean
noise (dBA)

square error between the observed data and the NN outcomes for
0
all elements in the training set has reached a pre-specified
threshold or after the completion of a pre-specified number of
-20 learning epochs.

-40
3.5. Radial basis function neural network (RBFNN)

-60
Experimental Traditionally, RBFNN which model functions y(x) mapping
MNN xARn to yAR have a single hidden layer so that the model,
-80
0 20 40 60 80 100 120 140 160 180 200 X
m
fðxÞ ¼ wj hj ðxÞ ð29Þ
frequency (kHz) j¼1

Fig. 10. Noise response of the system using MNN and experimental approach. is linear in the hidden layer to output weight ðwj Þm j ¼ 1 . The
characteristic feature of RBFNN is the radial nature of the hidden
unit transfer functions, ðhj Þm
j ¼ 1 , which depend only on the distance
50 between the input x and the centre cj of each hidden unit, scaled
by a metric Rj,
40
hj ðxÞ ¼ j½ðx  cj ÞT R1
j ðx  cj Þ
30
20 where f is some function which is monotonic for non negative
numbers. Gaussian basis function so that the transfer functions
noise (dBA)

10 can be written
!
0 Xn
ðxk  cjk Þ2
hj ðxÞ ¼ exp  ð30Þ
-10 k¼1
r2jk

-20 Using the Gaussian approximation, the output network is

approximately
-30 !
Xm Xn
ðxk  cjk Þ2
-40 Experimental fðxÞ ¼ wj exp  ð31Þ
RBFNN j¼1 k¼1
r2jk
-50
0 20 40 60 80 100 120 140 160 180 200 where rj is the radius vector of the jth hidden unit. A direct
frequency(kHz) approach to the model complexity issue is to select a subset of
centres from a larger set which, if used in its entirety, would over
Fig. 11. Noise response of the system using RBFNN and experimental approach. fit the data.

Table 2
Structural, training parameters and RMSE performance of the feedforward neural networks with different learning algorithms.

NN Type Learning rule g a N nI nH nO g( . ) RMSEs

BPNN @EðtÞ
DWij ðtÞ ¼  Z @W þ aDWij ðt  1Þ 0.5 0.4 6,500,000 1 10 1 tanH 0.2989
ij ðtÞ

GRNN b9ff 9 c
2
0.5 0.4 6,500,000 1 10 1 tanH 0.078
Wij ¼ exp 2h2 i
LVQNN DWI ði; jÞ ¼ ZaI ðiÞðpðjÞ  WI ði; jÞÞ 0.5 0.4 6,500,000 1 10 1 tanH 0.6582
" #
MNN P
K 2 0.5 0.4 6,500,000 1 10 1 tanH 0.6351
y ¼ ln gj eð1=2Þ9Nf Nfn 9
j¼1
!
RBFNN P
m P
n
ðxk cjk Þ2
0.5 0.4 6,500,000 1 10 1 tanH 0.0053
fðxÞ ¼ wj exp  r2jk
j¼1 k¼1
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4. Experimental approach
Fig. 7 shows the results of BP neural network for predicting
noise of robot manipulator. From the Fig. 7, this neural network
approach does not follow experimental noise vibration. Fig. 8
represents other neural network type noise analyze of robot
manipulator. GRNN also does not follow experimental result. The
result of LVQNN is not obtainable for following experimental
approach (see Fig. 9). Commanding the end-effectors to track a
prescribed trajectory of robot and the test performance of the
MNN predictor scheme are shown in Fig. 10.
A propose neural network is employed to predict noise of
robot manipulator. The proposed neural network result is shown
in Fig. 11. It is clear that proposed neural network scheme is faster
with better accuracy than BPNN, GRNN, LVQNN and MNN scheme
tested in this study.
From the results obtained, it can be seen that the proposed
neural network model system employing a proposed RBFNN
produced the best performance while the BPNN, GRNN, LVQNN
and MNN predictors yielded poor analyze. A reason for strong
performance of the RBFNN model system was the inclusion of
gauss activation functions in the neurons for the hidden and the
output layer (see Table 2).
5. Conclusions
The objective of this work was to prove the effectiveness of
neural network predictor as an alternative to noise analyze in a
robot manipulator. Methods and neural network model were
developed to analyze noise faults in case of carrying load for robot
manipulator. The neural network-based noise fault detection of
robot manipulator’s joints was done using noise sensors with a
hardware and software. The different types of the neural
networks were used for comparison. The use of RBFNN was given
the best results in nearly the same experimental approach. These
results were principally proofed experimentally on robot manip-
ulator.
The applied methodology proves to the very flexible and
powerful and is suitable for the solution of other prediction
problems.
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Acknowledgements
This research results consisted of part of project number DPT-
05-06. The authors would like to express their thanks to Erciyes
University and State Planning Organization for supporting this
project.
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