13th IFAC Workshop on Intelligent Manufacturing Systems

13th IFAC
13th IFAC Workshop
Workshop on on Intelligent
Intelligent Manufacturing
Manufacturing Systems
Systems
August 12-14, 2019. Oshawa, CanadaAvailable online at www.sciencedirect.com
August
August
13th 12-14,
12-14,
IFAC 2019. Oshawa,
2019.
Workshop Oshawa, Canada
Canada
on Intelligent Manufacturing Systems
August 12-14, 2019. Oshawa, Canada
ScienceDirect
IFAC PapersOnLine 52-10 (2019) 176–181

Neural
Neural Network
Network Model
Model for
for Identifying
Identifying Workspace,
Workspace, Forward
Forward and
and Inverse
Inverse
Kinematics
Neural Networkof the
Model 7-DOF
for YuMi 14000
Identifying ABB Collaborative
Workspace, Forward Robot
and
Kinematics of the 7-DOF YuMi 14000 ABB Collaborative RobotInverse
Kinematics of the 7-DOF YuMi 14000 ABB Collaborative Robot
Morteza
Morteza Alebooyeh*.
Alebooyeh*. R.
R. Jill
Jill Urbanic**
Urbanic**

Morteza Alebooyeh*.  R. Jill Urbanic** Windsor, Windsor, Ontario, Canada N9B
*Department
*Department of of Mechanical,
Mechanical, Automotive,
Automotive, and and Materials
Materials Engineering, 
Engineering, University
University of of Windsor, Windsor, Ontario, Canada N9B
3P4; (e-mail: alebooy@uwindsor.ca).
*Department of Mechanical, Automotive, and 3P4; (e-mail:Engineering,
Materials alebooy@uwindsor.ca).
University of Windsor, Windsor, Ontario, Canada N9B
** Department of Mechanical, Automotive, and Materials Engineering, University of Windsor, Windsor, Ontario, Canada N9B
** Department of Mechanical, Automotive, and 3P4; Materials
(e-mail: Engineering, University of Windsor, Windsor, Ontario, Canada N9B
alebooy@uwindsor.ca).
3P4 (e-mail: jurbanic@uwindsor.ca)}
** Department of Mechanical, Automotive, and 3P4Materials
(e-mail: jurbanic@uwindsor.ca)}
Engineering, University of Windsor, Windsor, Ontario, Canada N9B
Abstract: This research investigates 3P4 (e-mail:
development jurbanic@uwindsor.ca)}
of a visual and analytical tool for the study of the
Abstract: This research investigates development of a visual and analytical tool for the study of the
seven
Abstract: degree of freedom
Thisofresearch (7-DOF)
investigates ABB 14000
development YuMi robot.and
of a visual It analytical
provides an toolunderstanding
for the study of of the
the
seven degree
manipulator freedom
workspace (7-DOF)
regions where ABB they14000 YuMi
are visually robot. It provides
represented an
for insight understanding
into the trueofwork the
seven degreeworkspace
manipulator of freedom (7-DOF)
regions where ABB they 14000
are YuMi robot.
visually It provides
represented for an understanding
insight into the true ofwork
the
window. The developed tool is capable of realizing forward and inverse kinematics as well. The task is
manipulator
window. Theworkspace
developed tool regions where of
is capable they are visually
realizing forwardrepresented
and inversefor insight into
kinematics the The
as well. truetaskwork is
achieved
window. usingdeveloped
artificial neural
tool is networks
capable ofthat predictforward
an inverseandkinematic solution within an The
acceptable
achieved The using artificial neural networks realizing
that predict an inverse inverse kinematics
kinematic solution withinas well. task is
an acceptable
confidence
achieved using
confidence interval (90th-95th
artificial
interval neural percentile).
(90th-95th networks that
percentile). Mathematical
predict an inverse
Mathematical models, including
models,kinematic all
all kinematic
includingsolution withinmodels
kinematic i.e.
i.e. the
an acceptable
models the
physical
confidence structure
physical structureinterval of of manipulator
manipulator
(90th-95th joints and
joints Mathematical
percentile). links, are
and links, aremodels, developed
developed and
and all
including visually
visually
kinematic represented
represented
models i.e. in
in the
the
MATLAB
MATLABstructure
physical platform
platform of by using
using the
by manipulator the neural
neural jointsnetwork
and toolbox.
network toolbox.
links, are developed and visually represented in the
© 2019, IFAC (International
MATLAB
Keywords: platform by using the neural network
Federation of Automatic toolbox.
Control) Hosting by Elsevier Ltd. All rights reserved.
Keywords: Collaborative
Collaborative robots, robots, simulation,
simulation, neural neural network,
network, workspace,
workspace, forwardforward and and inverse
inverse kinematics.
kinematics.
Keywords: Collaborative robots, simulation, neural network, workspace, forward and inverse kinematics.

(2013) have presented a technique to develop the functional
1. INTRODUCTION  (2013) have presented a technique to develop the functional
1. INTRODUCTION and
and reachable
(2013)reachable workspace
workspace
have presented of
of serial
serial to
a technique 66 DOF
DOF
develop manipulators
manipulators
the functional for
for
1. INTRODUCTION
Most manipulators used in the industry today are articulated and determining the effective travel path regions. A work window
Most determining
reachable the effective
workspace travel
of path
serial 6 regions.
DOF A work
manipulatorswindow for
with manipulators
six or more used in the industry
rotational joints. This todaystructural
are articulated form algorithmalgorithm for the
forthe FANUC
theeffective
FANUCtravel 6R
6R family
family has
has been
beenAprovided
provided along
along
Most manipulators
with six or more used in the industry
rotational joints.
provides the manipulators with a great deal of flexibility,
todaystructural
This are articulated form determining
with singularity visualization
path regions.
for certain
work window
manipulator
with
provides six the
or manipulators
more rotational withjoints.
a great Thisdealstructural
of flexibility, with singularity
algorithm for the visualization
FANUC 6R family
form configuration(s). Work done by Urbanic (2012) has presented for has certain
been manipulator
provided along
dexterity,
provides and manipulators
an ability to reach with every specific coordinate of with singularity visualization for certain manipulator
dexterity, the and an ability to reach a great
every deal of
specific flexibility,
coordinate of configuration(s).
an estimation of Work done by Urbanic
the functional workspace (2012)
of ahas presented
manipulator
their workspace
their workspace
dexterity, and an in in more
moretothan
ability than
reachoneone configuration
configuration
every specific coordinate(Aggarwal
(Aggarwal of configuration(s).
an estimation of Work
the done by Urbanic
functional workspace (2012)
of ahas presented
manipulator
2014). Positioning using kinematic modelling and workspace
shape analyses. The outer
2014).workspace
their Positioning in aamore
manipulator
than onein
manipulator aa work
work cell
in configurationcell is critical
critical to
is(Aggarwal to an estimation
using
boundary
kinematic of the
curves for
functional
modelling
an ABBand
and shape analyses.
IRB-140
of a manipulator
The outer
ensure accessibility
accessibilityafor
ensure Positioning
2014). for the
the tasks
tasks and
manipulator in aprocesses
and work cellit
processes itisis intended
iscritical
intended to using boundarykinematic
curves for modelling
an ABB IRB-140 shape manipulator
analyses. The
manipulator
has outer
been
has been
to assessed for functional workspace of a desired end-effector
to serve.
ensureserve. An
An inverse
inversefor
accessibility mapping
mapping
the tasks from
fromandthe
the Cartesian
Cartesian
processes it isspace
space to
to aa boundary
intended assessed for
and tool
curves
orientation.
for an workspace
functional ABB IRB-140
Advantages of
of amanipulator
this technique
has been
desired end-effector
include an
manipulator’s
to serve. An inverse joint space
mappingis thus required and is a challenging and tool
assessed orientation.
for functional Advantages
workspace of ofthis a technique
desired include
end-effector an
manipulator’s
aspect of robotjoint space
control. is thusfrom
Numerous
the Cartesian
required and is such
techniques
space to a understanding of the joint reach feasibility prior to on-site
a challenging
as teach and
manipulator’s
aspect of robot joint spaceNumerous
is thus required and is such
a challenging understanding
tool of
orientation. the joint
Advantages reach feasibility
of this prior
technique to on-site
include an
pendants, robot control.
simulation software, techniques
manual trial as teach
and error setups setups inin aa manufacturing
of the joint environment.
manufacturing environment. Djuric
Djuric and
andtoUrbanic
Urbanic
aspect
pendants, of robot
robot control.
simulation Numerous
software, techniques
manual trial suchand error understanding
as teach (2012) have presented a
reach feasibility
similar technique
prior
for
on-site
building
field tests,
pendants, etc.
robot are currently
simulation used
software, in industry
manual for
trial determining
and error setups
(2012) in a
have manufacturing
presented a environment.
similar Djuric
technique and
for Urbanic
building
field tests, etc. are currently used in industry for determining reconfigurable alternatives and assessing the systems design
joint
joint configurations
field that
that may
tests, etc. are currently may usedproduce aa required
in industry for tool pose
pose for
determining for (2012) have presented a and
reconfigurable similar technique for building
ajoint
configurations
task. All these techniques
produce
utilize
required
conventional
tool
geometric, through the usealternatives
of functional workspace assessing ofthe systems
manipulators. design
The
a task. All these techniques
configurations utilize conventional
that may produce a required tool pose for reconfigurable
geometric, through the usealternatives
work window
of functionaland
has been graphically
assessingofthe
workspace
mapped
systems design
manipulators.
at different
The
tool
iterative
aiterative or analytical
or these
task. All analytical methods
methods
techniques to
to develop
utilize develop aa solution
conventional solution to
to the
geometric, the throughwork windowthe usehas of functional
been graphicallyworkspace mapped of manipulators.
at different The tool
problem orientations to compare the feasibility of operations for
problem for
iterative for positioning
positioningmethods
or analytical aa manipulator’s
manipulator’s
to develop a solution Often,
end-effector.
end-effector. to the work
Often, orientations
multiple
windowtohas
kinematic
compare
chains
the feasibility
been graphically
in a
mapped
manufacturing
of atoperations
different tool
cell.
for
the development
problem of
for positioning a closed form
a manipulator’s solution to this
end-effector. problem
Often, multiple
orientationskinematic
to chains
compare in
thea manufacturing
feasibility of cell.
operations for
the
maydevelopment of a closed
be mathematically form solution
complex to this problem
and computationally
the
may development
be of a closedcomplex
mathematically form solution and to this problem multiple
computationally Kozakiewicz kinematic
(1991) chains hasin proposed
a manufacturing cell.
a partitioned neural
expensive or may not even be possible. These limitations can Kozakiewicz (1991) has proposed a partitioned neural
may be or
expensive mathematically
may not even becomplex possible. and Thesecomputationally
limitations can network architecture to improve the accuracy for an inverse
be overcome by the network architecture
such as Kozakiewicz (1991) tohas improve the accuracy
proposed for an inverse
a partitioned neural
expensive or may notuse of non-traditional
even be possible. These approaches
limitations suchcan as kinematic problem. The networktheachieved
be overcome
Artificial Neural
by the use
Networks
of non-traditional
(ANNs). ANNs
approaches
can identify and network
kinematic architecture
problem. to improve
The network accuracyhigh
achieved for an
high
prediction
inverse
prediction
Artificial
be overcomeNeuralby theNetworks (ANNs). ANNs
use of non-traditional can identify
approaches suchand as accuracy for the position joints but exhibited higher errors for
predict kinematicfor problem. The joints
network achieved higher high prediction
predict non-linear
Artificial non-linear
Neural Networks trends amongst
trends (ANNs).
amongstANNs data
data can sets with
setsidentify
with and an
an accuracy
the orientation thejoints.
position Lou (1999) buthas
exhibited
introduced anerrors for
iterative
acceptable level of accuracy which makes them suitable for accuracy
the for thejoints.
orientation position Lou joints
(1999)buthas
exhibited
introducedhigher an errors for
iterative
acceptable
predict level of accuracy
non-linear which makes
trends amongst datathem setssuitable
with for an approach
the for computing
orientation joints. Lou the(1999)
inversehas kinematic
introduced problem using
an iterative
such an application
such an application
acceptable (Aggarwal
level of (Aggarwal
accuracy which 2014).
2014).makes them suitable for ANNs approach for computing the inverse kinematic problem using
approach
ANNs with
withforan offset
offset error
ancomputing thecompensation
error inverse kinematic
compensation method
method to
to improve
problem using
improve
such an application (Aggarwal 2014).
Significant research has been dedicated towards the ANNs the accuracy of the derived solution. The methodology has
Significant researchmanipulators.
has been Most dedicated the accuracy
with anof the
offset derived
error solution.
compensation The methodology
method to improvehas
modelling industrial of this towards
research has the been implemented since an offset error, which had different
been
the implemented
accuracy of thesince an
derived offset error,
solution. The which had
methodology different
has
Significant
modelling researchmanipulators.
has been Most dedicated towards has the
focused onindustrial
the development and optimization of this of research
manipulator values values
been for
for each
each
implemented required
required
since end-effector
end-effector
an offset position,
position,
error, which always
always
had existed
existed
different
modelling
focused onindustrial manipulators.
the development Most of this
and optimization of research
manipulator has
design and
on functionality in anand industrial setting.ofGoyal (2010) when taking
eachthe iterative approach. Bingulalways(2005) has
focused
design and the development
functionality optimization
in an industrial setting. Goyal (2010) values
manipulator when
explored
for
taking
threethe
required end-effector
iterative
different approach.
end-effector
position,
Bingul (2005)
orientation
existed
types hasfor
has
designdetermined the
and functionality
has determined workspace
in an industrial
the workspace of an RV-M1
of an setting.
RV-M1 Goyal Mitsubishi
(2010) when
Mitsubishi explored taking the
threeANN. iterative
different approach. orientation
end-effector Bingul (2005) types has
for
manipulator modelled using training an The method is validated on a 6R
manipulator
has determined modelled
the workspace using Denavit-Hartenberg
Denavit-Hartenberg
of an RV-M1 Mitsubishi (DH)
(DH) training explored an
manipulator
threeANN.
with
different
a
The end-effector
wrist
method is orientation
offset. The
validated on
results are
typesa for
6R
satisfactory
parameters
parameters through
manipulator modelled
through use
use of MATLAB’s
ofusing
MATLAB’s robotics
robotics toolbox.
Denavit-Hartenberg toolbox.(DH) The
The training manipulator an with
ANN. The offset.
a wrist methodTheis results validated on a 6R
are satisfactory
paper with
with errors
errors as high
higha as 10 degrees of
of data resolution. ANNs
paper has
has emphasized
parameters through use that
emphasized that the
the workspace
of MATLAB’s workspace of
of aa toolbox.
robotics manipulator
manipulator The manipulator
provide a
aswith
quicker
as
wrist
response
10 offset.
degreesThe
and have
data
results
proven
resolution. ANNs
are satisfactory
to be useful for
impacts its design,
paper hasitsemphasized placement, and
that the workspace dexterity. Djuric
of aDjuric et
manipulator al. provide
with a
errors quicker
as high response
as 10 and
degrees haveof proven
data to be
resolution. useful
ANNsfor
impacts design, placement, and dexterity. et al. multiple satisfactory solution(s) to the inverse kinematics
impacts its design, placement, and dexterity. Djuric et al. multiple
provide a satisfactory
quicker solution(s)
response and to
have the
proven inverse
to be kinematics
useful for
2405-8963 © 2019, IFAC (International Federation of Automatic Control) Hosting multipleby satisfactory
Elsevier Ltd. All rights reserved.
solution(s) to the inverse kinematics
Copyright@ 2019 IFAC
Peer review under 176Control.
responsibility of International Federation of Automatic
Copyright@
Copyright@ 2019 IFAC
2019 IFAC 176
176
10.1016/j.ifacol.2019.10.019
Copyright@ 2019 IFAC 176
2019 IFAC IMS
August 12-14, 2019. Oshawa, Canada Morteza Alebooyeh et al. / IFAC PapersOnLine 52-10 (2019) 176–181 177

problem with real-time adaptive control (Köker (2004) and the left arm of the cobot, and as presented in Table 2, and
Hasan 2010). An inherent challenge with this technique has Figure 4, respectively.
been related to increasing the developed network’s accuracy.
Research carried out, however, does not consider a versatile
model for 7-DOF articulated robot manipulators. A need is
therefore recognized for the development of a tool that can
generate and identify feasible workspace topologies for a 7-
DOF YuMi collaborative robot (cobot), which is the focus of
this paper.

1.1 7-DOF YuMi 14000 ABB Industrial Robot

The YuMi dual arm robot (Figure 1) has a vision system,

controllable dexterous grippers (speed and gripper position),
sensitive force control feedback, flexible software and built-
in safety features that collectively allow for programming
through teaching rather than coding. The design and
performance characteristics are summarized in Table 1.
Fig. 2. YuMi robot arm links and joints (Robotics product
specification IRB 14000, 2015).

Fig. 1. 7-DOF YuMi 14000 ABB Industrial Robot. Fig. 3. YuMi robot free body diagram (Robotics product
specification IRB 14000, 2015).
Table 1. YuMi characteristics (Robotics product
specification IRB 14000, 2015) Table 2. DH parameters for the left arm (i is the axis)
Feature Value theta lower upper
Degrees of Freedom 7 per side d (link a (link alpha (link
i (link joint joint
Large working range 559 mm offset) length) twist)
angle) limit limit
Linear speed of gripping operation 0.25 mm/sec 1 D1=166 0 A1=-30 -90 -168.5 168.5
Max Force of Gripper 20 N 2 D2=0 0 A2=30 90 -143.5 43.5
Payload (Max load for each arm) 500 gr 3 D3=251.5 0 A3=40.5 -90 -123.5 80
Max TCP Velocity 1.5 m/s 4 D4=0 -90 A4=40.5 -90 -290 290
Width, Length, Height 399*497*571 5 D5=265 180 A5=27 -90 -88 138
Weight 38 Kg 6 D6=0 0 A6=-27 90 -229 229
This cobot has a compact frame and 14-axes (2-7 serial axis 7 D7=36 0 A7=0 0 -168.5 168.5
with rotary joint configurations). The type of motion for Axis The robot link’s characteristics for each joint i and the range
1 and 7 is rotation motion by arms while axis 2 and 3 involve of motion for each joint is italicized in Table 2.
bend motion by arms. Axis 4 and 5 have rotation and bend
motion, respectively, using wrists and finally, axis 6 has 2. METHODOLOGY
rotation motion using a flange. It is a portable robot with
lightweight padded arms, and multifunctional hands. It is fast 2.1 Neural Network Model
and highly accurate (returning to the same point in space to
within 0.02 mm accuracy) with sophisticated speed limited Artificial neural networks are flexible, adaptive learning
motion technology (Figures 2 to 4). Figure 3 shows free body systems that follow the observed data to find patterns and
diagram of YuMi IRB 14000 robot. The robot’s teach develop nonlinear models to make predictions. Their key
pendant and RobotStudio software has been used to extract features are: they process information locally in neurons;
lower and upper joint limits as well as the DH parameters for neurons operate in parallel and are connected into a network

177
2019 IFAC IMS
August 12-14, 2019. Oshawa, Canada Morteza Alebooyeh et al. / IFAC PapersOnLine 52-10 (2019) 176–181
178
through weights; networks acquire knowledge from the input
by learning, which is stored or reflected in the weights; and
earned network captures essential features of a problem and
can make predictions.
(a)
(b)
Fig. 4. (a) YuMi left arm configuration, and (b) MATLAB
model (units are in mm).
In this study a feed-forward back-propagation batch learning
algorithm with multilayer perceptron (MLP) neural network
model has been employed because of its capability to perform
complex prediction with a supervised learning technique.
2.2 Training
Back-propagation of the error allows the network to calculate
the error at each output and adjust the value of the weights
that caused the error, thereby reducing the overall error in the
network. The error indicator considered for the network
performance is the mean squared error (MSE) value. The
MSE value determines the accuracy of prediction over all the
training patterns for a given network (Equation 1).
𝐸𝐸= 1/2𝑁𝑁(Σ(𝑡𝑡𝑖𝑖−𝑧𝑧𝑖𝑖 )2) )
where, E is the MSE value, 𝑡𝑡𝑡𝑡 is the target for the ith training
pattern, 𝑧𝑧𝑧𝑧 is the predicted output for the ith training pattern,
and N is the total number of training patterns. The Bayesian
Regulation backpropagation learning algorithm has been used
to adjust and update the weights of the network. It is a
network training algorithm that updates the weight and bias
values according to Levenberg-Marquardt (LM)
optimization. It minimizes a combination of squared errors
and weights, and then determines the correct combination to
produce a network that generalizes well. LM is a hybrid
learning technique based of the Gradient Descent and
Newton’s method (Equation 2).
𝛥𝛥𝑤𝑤𝑚𝑚= − 𝑑𝑑𝑚𝑚/(𝑑𝑑𝑚𝑚s+ 𝑒𝑒𝜆𝜆) (2)
where, 𝑑𝑑𝑚𝑚 is the first derivative of error, is the second
𝑑𝑑𝑚𝑚𝑠𝑠
derivative of error, and λ is the damping factor. Validation
stops have been disabled by default (max fail = inf) so that
training can continue until an optimal combination of errors
and weights is found. Bayesian Regulation can train any
network as long as its weight, net input, and transfer
functions have derivative functions (Foresee 1997).
2.3 Activation Function
Activation functions help the weights in the network identify
and learn trends in a dataset. These functions can help
introduce non-linearity into the network which allows the
network to process complex, and non-linear datasets. The
hyperbolic tangent function has been used as the activation
function for the network’s hidden layer (Equation 3). Unlike
the logistic function, this function is beneficial when the data
set to be trained has both positive and negative values in its
input and target dataset. The data should be normalized
before being fed to the network for improved performance.
tanh(𝑢𝑢)= 1−𝑒𝑒−2𝑢𝑢/1+ 𝑒𝑒−2𝑢𝑢 (3)
where, β is the slope parameter, and u is any value from a
dataset. The output from a neuron using any activation
function, f, is given by Equation 4.
𝑁𝑁𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂 = f (Σ𝑤𝑤𝑗𝑗𝑥𝑥𝑗𝑗+𝑏𝑏) (4)
The output layer uses a linear activation function given by
𝑓𝑓(𝑢𝑢)= 𝑢𝑢 as its processing unit. Unlike the hyperbolic tangent
function, the linear activation function does not constrain the
data but rather scales it linearly. This helps attain a true
output value with respect to the network input.
2.4 Data Pre-processing and Post Processing
Normalization has been used for this solution approach. D-H
parameters often have a different scale than the joint variable
ranges. The difference in scale may mask the effect of one
variable on another. Normalization of data is therefore
essential to scale all input and target datasets in a pre-defined
range. The pre-defined range used for training the network is
[-1, 1]. This guarantees a stable convergence of weights and
biases. Normalization also helps to identify the true effect of
any one variable on another variable. Two normalization
(1) techniques, namely, min-max normalization (Equation 5) and
z-score normalization have been applied to the dataset(s)
used for training the network.
𝑋𝑋′=(𝑎𝑎+(𝑋𝑋−𝑋𝑋𝑚𝑚𝑚𝑚𝑚𝑚)(𝑏𝑏−𝑎𝑎))/𝑋𝑋𝑚𝑚𝑚𝑚𝑚𝑚−𝑋𝑋𝑚𝑚𝑚𝑚𝑚𝑚 (5)
where, 𝑋𝑋 denotes any value in the data set, 𝑋𝑋′ denotes the
normalized value of 𝑋𝑋, a = -1, b = 1, 𝑋𝑋𝑚𝑚𝑚𝑚𝑚𝑚 𝑎𝑎𝑎𝑎𝑎𝑎 𝑋𝑋𝑚𝑚𝑚𝑚𝑚𝑚 are the
maximum and minimum values in the dataset respectively.
The network outputs from a normalized input set are also
normalized. All values in the output data set therefore need to
be reverted to scale. The scale for de-normalizing an output
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2019 IFAC IMS
August 12-14, 2019. Oshawa, Canada Morteza Alebooyeh et al. / IFAC PapersOnLine 52-10 (2019) 176–181
dataset is determined from the range of target dataset
supplied to the network.
The ANNs for this research have been developed with the aid
of the Graphical User Interface (GUI) Neural Network (NN)
Toolbox in the MATLAB environment. For training a
network, all data has been divided at random into three
mutually exclusive and collectively exhaustive categories,
including the training set, the validation set, and the testing
set accounting for 90% 5% and 5% of the original data,
respectively, selected at random by the NN Toolbox. This
data division percentage of 90-5-5 has been selected since the
ANN yielded a better performance when compared to the
default configuration (70-15-15). This is because the network
is able to train over a larger dataset range while the validation
and testing dataset performance remained constant.
2.5 Network Prediction Capability
Network outputs are the predicted values from the trained
network, which are compared with the known targets for
errors in prediction. The relative percentage error for the
prediction has been calculated for a target dataset with no
zero values, subtracting the output from a target and dividing
the result over target. If the target dataset contains values that
are zero, a percentage error cannot be computed since the
numerator would require division with 0. In such cases, the
absolute error has been computed.
2.6 Inverse Kinematics using Neural Networks
The network architecture uses a 12 input dataset which
represent the position of the end-effector (𝑝𝑝𝑝𝑝,𝑝𝑝𝑝𝑝,𝑝𝑝𝑝𝑝), and the
orientation of the end-effector (𝑛𝑛𝑛𝑛,𝑛𝑛𝑛𝑛,𝑛𝑛𝑛𝑛,𝑏𝑏𝑏𝑏,𝑏𝑏𝑏𝑏,𝑏𝑏𝑏𝑏,𝑡𝑡𝑡𝑡,𝑡𝑡𝑡𝑡,𝑡𝑡𝑡𝑡)
from the forward kinematics (Equation 6). The targets and
network outputs are the configurations of the joint variables
(𝑞𝑞1,𝑞𝑞2,𝑞𝑞3,𝑞𝑞4,𝑞𝑞5,𝑞𝑞6,q7) that produce the input position and
orientation.
(6)
The mathematical model has been built for the YuMi cobot
using the NN MATLAB toolbox. The mathematical model
requires D-H Parameters and the range of motion for all joint
variables as inputs. Based on inputs, the model successfully
computes and evaluates the following outputs:
1. Forward Kinematics Solution: Due to the unavailability of
inverse kinematic solution(s) for most industrial
manipulators, a forward kinematics solution has been first
developed to lead to outputs that will be subsequently served
as input data set in inverse kinematics. Thus, the model first
computes all individual homogenous transformation matrices
to be subsequently used to develop a forward kinematics
homogeneous matrix.
2. 3-D Workspace: The model starts by splitting the range of
each joint variable into three values. A step size of 3 provided
the most accurate ANN model results over any other step size
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chosen. The accuracy with a smaller step size has been
increased because of the reduced level of complexity in the
dataset. The computation time of the network has been also
decreased substantially with this approach. The values in a
range have been randomized to prevent formation of classes
in a continuous dataset. The model forms the manipulator’s
joint space by making all possible combinations of each joint
variable. For a 7-DOF manipulator, the total combinations of
7 joints will be 2187 (3^7). These joint configurations would
provide 2187 Cartesian coordinates that have been
represented as the complete workspace.
3. Inverse Kinematics Solution: The position and orientation
of each point in the manipulator workspace defines the inputs
for the inverse kinematics ANN model. The corresponding
joint space of the network inputs defines the network targets.
2.7 Generalization and Accuracy of the ANN Model
A challenge with ANN models is the accuracy of a developed
network. An acceptable level of accuracy is needed to make
confident predictions. For improving generalization, the
network’s DOF need to be lowered, which is achieved by
reducing the number of free parameters, or the weights to
each hidden neuron. These hidden neuron weights are
directly proportional to the flexibility of the network
(Samarasinghe 2007). Using trial and error, it has been
observed that an ANN with 75 neurons in one hidden layer
provides the optimal network generalization and accuracy.
3. RESULTS AND ANALYSIS
The best validation performance, as seen from Figures 5 and
6, has been obtained at epoch 1000. The network training has
been completed at epoch 1000 since validation stops have
been disabled so that training can continue until an optimal
combination of errors and weights is found.
Fig. 5. ANN Architecture for the YuMi robot.
The regression plot in Figure 7 demonstrates a good fitness
between the network outputs and the target values. A perfect
fit is indicated by a regression (R) value of 1. A comparison
between the network outputs and targets (joint
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configurations) is presented in Figure 8. The network is very
accurate in predicting joints 2, 3, 5 and 7 for the manipulator.
It can be observed that the predicted outputs of the network
almost superimpose onto the target values. However, some
variation can be observed in joints 1, 4 and 6 which are either
high range or belong to the manipulator wrist.
accuracy of prediction. The individual performance values
for the training, testing, and validation dataset are low and are
around the generated MSE value as well. The error histogram
in Figure 9 illustrates the frequency of errors concentrated
over a range. A well fit network has the maximum frequency
of errors around zero. In the network trained for YuMi robot,
the maximum errors in all training, validation, and testing
dataset are mostly concentrated between -0.23 to 0.13. The
error histogram displays a good normal distribution.

Fig. 6. Performance plot for YuMi robot NN.

Fig. 8. Inverse kinematics predictions for the NN model.

Fig. 9. Error histogram for the YuMi robot NN model.

Fig. 7. Regression Plot for YuMi robot NN model.
The complete 3-D workspace of the manipulator has been
This variation arises due to the generalization properties of represented in Figure 10. The Cartesian space configuration
the developed ANN. The purpose of an ANN is to determine of this subset workspace has been normalized and provided to
a generalized trend between the input and output parameters the network as inputs. The joint angle configurations have
of a given manipulator, rather than mapping exact points been normalized and provided as targets.
which leads to an over-fitted model. It is important to realize
that multiple wrist configurations may exist for every given
set of position coordinates (X,Y,Z) in the input data set.
These wrist configurations primarily contribute to the
orientation of the manipulator’s end-effector. For each set of
unique position coordinates, the wrist can therefore assume a
specific set of joint configurations. As a result, during the
training phase, the ANN network attempts to predict a
generalized model for Joints 4 and 6. Hence, when a new
input set of parameters is introduced to the network, the
network attempts to predict an overall generalized result for
these joints based on their average thereby reducing network
accuracy. The network performance indicator, MSE, has an
appropriate value of 0.32. A low MSE value indicates a good

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Fig. 10. Total workspace (reach conditions) for the YuMi Conditions for Articulated Robots and Machine Tools,
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