Real Time Control Application of the Robotic Arm Using Neural Network Based Inverse Kinematics Solution

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dc.contributor.authorAdar, Nurettin Gökhan
dc.date.accessioned2026-02-08T15:05:07Z
dc.date.available2026-02-08T15:05:07Z
dc.date.issued2021
dc.departmentBursa Teknik Üniversitesi
dc.description.abstractRobotic arms are widely used in many industrial applications at present. The control of robotic arms involves position coordination Cartesian space by a forward/inverse kinematics solution method. The inverse kinematics is difficult for real-time control applications, computational requirements are intensive and the run-time is high. The traditional solution methods used geometric, algebraic, and numerical iterative techniques are inadequate and slow in the inverse kinematics solution. Recently, alternative solution methods based on artificial intelligence techniques have been developed to solve the inverse kinematics problem. In this study, a multi-layered feed-forward Artificial Neural Network model was developed to solve the inverse kinematics of the 5 degrees of freedom robotic arm. Using the Proportional-Integral control algorithm combined with this Artificial Neural Network model, the real-time position control of the robotic arm was accomplished. The obtained results were compared with the PI control supported by an analytical inverse kinematics solution in real-time. The results showed that the PI control combined with Artificial Neural Network has superior tracking ability, smaller control error, and better absolute fit to the reference.
dc.identifier.doi10.16984/saufenbilder.907312
dc.identifier.endpage857
dc.identifier.issn2147-835X
dc.identifier.issue3
dc.identifier.scopus2-s2.0-85127985197
dc.identifier.scopusqualityN/A
dc.identifier.startpage849
dc.identifier.trdizinid469606
dc.identifier.urihttps://doi.org/10.16984/saufenbilder.907312
dc.identifier.urihttps://hdl.handle.net/20.500.12885/4440
dc.identifier.volume25
dc.indekslendigikaynakScopus
dc.indekslendigikaynakTR-Dizin
dc.language.isoen
dc.publisherSakarya University
dc.relation.ispartofSakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi
dc.relation.ispartofSakarya University Journal of Science
dc.relation.publicationcategoryMakale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_DergiPark_20260207
dc.subjectMechanical Engineering
dc.subjectMakine Mühendisliği
dc.titleReal Time Control Application of the Robotic Arm Using Neural Network Based Inverse Kinematics Solution
dc.typeArticle

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