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Arifiansyah Zody
Department of Information Technology, Faculty of Computer Science, Esa Unggul University
Civil Engineering, Building, Construction & Architecture Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering

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SELF-LEARNING OF DELTA ROBOT USING INVERSE KINEMATICS AND ARTIFICIAL NEURAL NETWORKS Zendi Iklima; Muhammad Imam Muthahhar; Asif Khan; Arifiansyah Zody
SINERGI Vol 25, No 3 (2021)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2021.3.001

Abstract

As known as Parallel-Link Robot, Delta Robot is a kind of Manipulator Robot that consists of three arms mounted in parallel. Delta Robot has a central joint constructed as an end-effector represented as a gripper. An Analysis of Inverse Kinematic (IK) used to convert the end-effector trajectory (X, Y) into rotations of stepper motors (ZA, ZB and ZC). The proposed method used Artificial Neural Networks (ANNs) to simplify the process of IK solver. The IK solver generated the datasets contain motion data of the Delta robot. There are 11 KB Datasets consist of 200 motion data used to be trained. The proposed method was trained in 58.78 seconds in 5000 iterations. Using a learning rate (α) 0.05 and produced the average accuracy was 97.48%, and the average loss was 0.43%. The proposed method was also tested to transfer motion data over Socket.IO with 115.58B in 6.68ms.
Co-Authors Asif Khan Muhammad Imam Muthahhar Zendi Iklima