Coordinates Modelling of the Discrete Hexapod Manipulator via Artificial Intelligence

Pasila, Felix and Alimin, Roche (2016) Coordinates Modelling of the Discrete Hexapod Manipulator via Artificial Intelligence. [UNSPECIFIED]

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Abstract

This paper will present how to model the XYZ coordinates of a serial discrete Hexapod Manipulator with twelve discrete pneumatic actuators via artificial in-telligence algorithm (AI) efficiently. The XYZ model is said efficient if mathematical calculation of the discrete states of manipulator from related XYZ coordinates can be done via AI. The designing a parallel manipulator with two-six actuators which are controlled discretely is a must because the mechanism will use artificial methods in dealing with the ISA problem. In this approach, mathe-matical model is not required. The research method used simulation software and hardware testing with the case of parallel manipulator with 12 discrete pneumatic actuators. Simulations with typical desired displacement inputs are presented and a good performance of the mechanism is obtained. The results showed that the parallel manipulator has the Root Mean Squared Error (RMSE) has less than 5% and can be used for artificial intelligence implementation.

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