Deep Neural Network Based Subspace Learning of Robotic Manipulator Workspace Mapping

Code

• github.com/liaopeiyuan/Subspace-Learning
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Abstract

The manipulator workspace mapping is an important problem in robotics and has attracted significant attention in the community. However, most of the pre-existing algorithms have expensive time complexity due to the reliance on sophisticated kinematic equations. To solve this problem, this paper introduces subspace learning (SL), a variant of subspace embedding, where a set of robot and scope parameters is mapped to the corresponding workspace by a deep neural network (DNN). Trained on a large dataset of around 6 10^4 samples obtained from a MATLAB^ implementation of a classical method and sampling of designed uniform distributions, the experiments demonstrate that the embedding significantly reduces run-time from 5.23 10^3 s of traditional discretization method to 0.224 s, with high accuracies (average F-measure is 0.9665 with batch gradient descent and resilient backpropagation).

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