Auteurs : Rodolfo Faglia http://popups.lib.uliege.be/1373-5411/index.php?id=3577 Publications of Auteurs Rodolfo Faglia fr 0 An Hyperincursive Method for the Solution of the Inverse Kinematics of Industrial Robots Based on Neural Networks and Genetic Algorithms http://popups.lib.uliege.be/1373-5411/index.php?id=3572 The robotic inverse kinematic problem can be rightly classified as a very felt theme in the field of robotics. Many studies have been carried out in order to find new methods for the solution of the problem as alternatives to the traditional ones. In particular, every method able to improve the calculation speed is more and more appreciated. In the present paper an innovative method for the numerical inversion of non linear equations sets is shown. The approach is based on some procedures typical of the soft-computing area. In particular, the inverse kinematic problem is solved by a Neural Network optimised by means of a Genetic Algorithm acting inside an Hyperincursive scheme. After the introduction of the methodology developed, the paper shows some results obtained on a SCARA robot; they appear very good in terms of computational speed, even if the solution precision is not high near the boundaries of the working area. Thu, 26 Sep 2024 10:01:39 +0200 Tue, 08 Oct 2024 14:03:45 +0200 http://popups.lib.uliege.be/1373-5411/index.php?id=3572 Detection of various failure causes in complex mechanical systems by the use of Artificial Neural Networks http://popups.lib.uliege.be/1373-5411/index.php?id=2153 The paper presents a methodology based on Artificial Neural Networks (ANN) to perform on-line a diagnosis of the health state of a machinery. The procedure at issue permits to detect the presence of backlash and to determine possible structural failures inside a mechanical system. Backlash and damages are important causes of vibrations in machines, therefore vibrations monitoring gives indirect information on these parasite effects. An ANN is used to classify the system behaviour among a predefined number of classes, receiving as input vibrational signals (simulated or measured). An application is discussed for devices purposely built for indexing motion, where compliance plays an important rôle, affecting the dynamic behavior of the whole machine. An analysis of parameters sensibility for the proposed procedure on simulated cases highlighted the best values and choices for these parameters. Tests of the procedure on experimental data collected on actual devices match closely the good results achieved with simulations. Tue, 30 Jul 2024 11:28:14 +0200 Thu, 10 Oct 2024 16:38:06 +0200 http://popups.lib.uliege.be/1373-5411/index.php?id=2153