Application of ANN, GA and

Ant Colony Optimization in

Robotics
By
Shivam Sidhu
Jitendra Kumar Paudwal
Pranav Sharma

NEURAL
NETWORKS FOR
ROBOTICS
COORDINATE
TRANSFORMATION
BY STEPHEN AYLOR, LUIS RABEL, SEMA ALPTEKIN,
Elsevier publication 1992, Volume 22 Issue 4

ARTIFICIAL NEURAL
NETWORKS
A neural network is a set

of connected input/output
units where each
connection has a weight
associated with it.
Neural networks resemble
the human brain

Natural neurons

An artificial neuron

Backpropagation
algorithm

A hidden or output
layer unit

Fischertechnik Robot

Result and Conclusion

A method to provide a complete set
of solutions to the inverse kinematic
equations was developed and
presented using data from a model
robot, from which a set of
backpropagation neural networks
were developed and trained that
dramatically reduced the time
required for a development and
training of backpropagation
networks
provided a complete set of solutions
to the inverse kinematic equations
were able to take into account the
mechanical and electrical faults of
the model robot used.

Table: Training Set

Inverse Kinematics
Using Neuro-Fuzzy
Intelligent Technique
for Robotic
Manipulator
Shiv Manjaree, Vijyant Agarwal, and B.C. Nakra,
International Journal of Advanced Computer Research,
Volume-3, Number-4,Issue-13 (2013)

ANFIS (Adaptive Neuro-Fuzzy Inference System)

Layer 1: Calculation of membership

function value for premise

parameter i.e. input.
Layer 2: Firing strength of rule or
output of every node is the product
of all incoming signals.
Layer 3: Normalize firing strength. In
other words, each of firing strengths
of rules is compared with sum of all
firing strengths.
Layer 4: Consequent parameter or
linear combination of input variables
of ANFIS with constant terms to form
the output of each IF-THEN rule.
Layer 5: It provides overall output
i.e. performs the defuzzification
process.

Computer Simulation and Results

The robotic manipulator used in this
paper, is a Quanser make OmniBundle having three degree-offreedom.
Using Denavit-Hartenberg convention
viz. (, d, a, ), the forward kinematic
equations are obtained as:
X = L1cos1cos2 + L2 cos1 cos2
cos (3 /2) L2 cos1 sin2 sin
(3 /2) (8)
Y = L1sin1cos2 + L2 sin1 cos2
cos (3 /2) L2 sin1 sin2 sin (3
/2) (9)
Z = L1 sin2 L2 sin2 cos (3 /2)
L2 cos2 sin (3 /2)

Computer Simulation and Results

The inverse kinematic
equations deduced
analytically are given as:
1 = tan-1 (Y/X) (11)
3 = tan-1 (sin 3 / cos 3)
(12)
2 = tan-1 (n / Z) tan-1
(o / m) (13)
where, m = L2 cos3; n = X
cos1 + Y sin 1;
o = sqrt (m2 n2 Z2); and
sin 3 = (X2 + Y2 + Z2
L12 L22) / (2 L1L2)

Result
A total of 9261 observation

points generated in the

work-volume are considered
to find the error of three joint
angles.
The difference in deduced
theta and predicted theta
using ANFIS clearly depicts
that the proposed method
results in an acceptable error
for a three degree of
freedom robotic manipulator
moving in 3-dimensional
space.

An Artificial
Neural Network
Based Robot
Controller that
Uses Rats Brain
Signals
Marsel Mano, Genci Capi, Norifumi Tanaka and
Shigenori Kawahara, ISSN 2218-6581 , Mdpi journals,
29 April 2013

Rat Training
At the beginning, the rat is trained to
learn to press the right or left.
Then robot is used by pressing the
levers in scenarios that change from
simple to more complicated ones, as
follows:
The robot is placed in front of the rat
and it moves straight forward when
any lever is pressed.
The robot is placed on the right (left)
side of the rat and it follows half of a Ushape trajectory when only the right
(left) lever is pressed.
The robot is placed initially on the right
or left side of the rat and it moves to
the right or left of a U-shape when the
respective lever is pressed.

Method
Four electrodes were implanted on
the rats brain (Figure 2).
Electrodes, L1 and R1, were
implanted in the motor cortex area,
respectively in the left and right
hemisphere.
Electrodes, L2 and R2, were
implanted in the somatosensory
cortex area, respectively in the left
and right hemisphere.
Two neural networks have been
considered with similar
architecture: an RBFNN and multilayer perceptron neural network
trained with Bayesian regulation
back propagation (BPNN)

Conclusion

ANN Method for

Control of Robots
to Avoid Obstacles
E. Ciupan, F. Lungu, C. Ciupan, INTERNATIONAL
JOURNAL OF COMPUTERS COMMUNICATIONS &
CONTROL
ISSN 1841-9836, 9(5):539-554, October, 2014

The avoidance of obstacles placed in the workspace of the robot is a

problem which makes controlling them more difficult.

The known avoidance methods used for the robots control are based
on bypass trajectory programming or on using the sensors that detect
the position of the obstacle.
This paper describes a method of training industrial robots in order for
them to avoid certain obstacles in the workspace.
The method is based on the modelling of the robots kinematics by
means of an artificial neural network and by including the neural
model in the robots controller.
The neural model simulates the robots inverse kinematics, and
provides the joint coordinates, as referential values for the controller.
The novelty of the method consists in the deliberately erroneous
training of the network, so that, when programming a direct trajectory
in the workspace, the robot avoids a known obstacle.

Controller Design
Proportional-integrative-

derivative PID controller

is widely used for the
control of robots,
because it is model-free,
and its parameters can
be adjusted easily and
separately.
An integrator in a PID
controller reduces the
bandwidth of the
closed-loop system

Avoid obstacle
Based on the robots kinematic scheme

(Figure 3a), one can describe the

connecting relations between the joints
coordinates qi, as well as the effectors
position (X, Y, Z, , , ).
The mathematical model for the inverse
kinematics is obtained by solving the
system of equations (1)-(6):
X = X0 + q1 iTx + l2sin() (1)
Y = Y0 + q2 iTy + (l1 + l2cos())sin (2)
Z = Z0 + q3 iTz (l1 + l2cos())cos (3)
= 0 + q4 iT (4)
= 0 + q5 iT (5)
= 0 + q6 iT (6)
where iTx, iTy, iTz, iT, iT, iT represent
the transfer functions of the transforming
mechanisms which generate the given
movements, and X0, Y0, Z0, 0, 0, 0
represent the initial values obtained for
qi=0, i=1,...,6.

Conclusion
In order to obtain an improved model,

there have been considered three

envelopes that dress the obstacle. For
each envelope, there has been trained
a neural network, each having the
same number of training examples.
The set of training examples has been
generated by inverse kinematics
analysis, considering a cloud of
equally distanced points in the robots
work plane.
The joint coordinates have been
generated depending on the
obstacles envelope.
It has been noted that the neural
model provides the joint coordinates
that lead the end-effector on a bypass
trajectory.