A Comparison of Multi-Layer Perceptron and Inverse Kinematic for RRR Robotic Arm

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dc.contributor.authorAysal, Faruk Emre
dc.contributor.authorCelik, Ibrahim
dc.contributor.authorCengiz, Enes
dc.contributor.authorOguz, Yuksel
dc.date.accessioned2025-03-23T19:27:06Z
dc.date.available2025-03-23T19:27:06Z
dc.date.issued2024
dc.departmentSinop Üniversitesi
dc.description.abstractIn this study, the position control simulation of a 3 Degree of Freedom (3DOF) robot arm was compared with machine learning and inverse kinematic analysis separately. The considered robot arm is designed in RRR pattern. In the inverse kinematic analysis of the robot arm, the geometric approach and the analytical approach are used together. Multi-Layer Perceptron (MLP) was used as a machine learning method. Some of the coordinate data that the robot arm can reach in the working space are selected and the MLP model is trained with these data. When training was done with MLP machine learning method, the correlation coefficient (R2) was obtained as 1. Coordinates of 3 different geometric models (helix, star and daisy) that can be included in the working space are used as test data of the MLP model. These tests are simulated in 3D in MATLAB environment. The simulation results were compared with the inverse kinematics analysis data. As a result, Mean Relative Error (MRE) values for helix, star and daisy shapes were calculated as 0.0007, 0.0033 and 0.0011, respectively, in the tests performed. Mean Squared Error (MSE) values were obtained as 0.0034, 0.0065 and 0.0040, respectively. This confirms that the proposed MLP model can operate this system at the desired stability.
dc.description.sponsorshipAfyon Kocatepe University Scientific Research Projects (AKU-BAPK) Unit [21, KAR?YER.03]
dc.description.sponsorshipThis study was supported by Afyon Kocatepe University Scientific Research Projects (AKU-BAPK) Unit with project number 21.KAR?YER.03.
dc.identifier.doi10.2339/politeknik.1092642
dc.identifier.issn1302-0900
dc.identifier.issn2147-9429
dc.identifier.issue1
dc.identifier.scopusqualityN/A
dc.identifier.trdizinid1227712
dc.identifier.urihttps://doi.org/10.2339/politeknik.1092642
dc.identifier.urihttps://search.trdizin.gov.tr/tr/yayin/detay/1227712
dc.identifier.urihttps://hdl.handle.net/11486/4840
dc.identifier.volume27
dc.identifier.wosWOS:000834005700001
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakTR-Dizin
dc.language.isoen
dc.publisherGazi Univ
dc.relation.ispartofJournal of Polytechnic-Politeknik Dergisi
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_WOS_20250323
dc.subjectInverse kinematics
dc.subjectmulti-layer perceptron (MLP)
dc.subjectrobotic arm
dc.titleA Comparison of Multi-Layer Perceptron and Inverse Kinematic for RRR Robotic Arm
dc.typeArticle

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