Publication

Abstract : Target-oriented approaches have been commonly used in robotics. In 3D space, movement of a robotic arm depends on the target position which can either follow a forward or inverse kinematics approach to reach the target. Predicting the movement of a robotic arm requires prior learning through methods such as transformation matrices or other machine learning techniques. In this paper, we built an online robotic arm to extract movement datasets and have used machine learning algorithms to predict robotic arm articulation. For efficient training, small training datasets were used for learning purpose. Classification is used as a scheme to replace prediction-correction approach and to test whether the method can function as a replacement of usual forward kinematics schemes or predictor-corrector methods in directing a remotely controlled robotic articulator. This study reports significant classification accuracy and efficiency on real and synthetic datasets generated by the device. The study also suggests linear SVM and Naïve Bayes algorithms as alternatives for computational intensive learning schemes while predicting articulator movement in laboratory environments.