20.500.12556/RUL-136403 Error prediction for large optical mirror processing robot based on deep learning Napovedovanje napak robotov za obdelavo velikih optičnih zrcal na osnovi globokega učenja Predicting the errors of a large optical mirror processing robot (LOMPR) is very important when studying a feedforward control error compensation strategy to improve the motion accuracy of the LOMPR. Therefore, an end trajectory error prediction model of a LOMPR based on a Bayesian optimized long short-term memory (BO-LSTM) was established. First, the batch size, number of hidden neurons and learning rate of LSTM were optimized using a Bayesian method. Then, the established prediction models were used to predict the errors in the X and Y directions of the spiral trajectory of the LOMPR, and the prediction results were compared with those of back-propagation (BP) neural network. The experimental results show that the training time of the BO-LSTM is reduced to 21.4 % and 15.2 %, respectively, in X and Y directions than that of the BP neural network. Moreover, the MSE, RMSE, and MAE of the prediction error in the X direction were reduced to 9.4 %, 30.5 %, and 31.8 %, respectively; the MSE, RMSE, and MAE of the prediction error in the Y direction were reduced to 9.6 %, 30.8 %, and 37.8 %, respectively. It is verified that the BO-LSTM prediction model could improve not only the accuracy of the end trajectory error prediction of the LOMPR but also the prediction efficiency, which provides a research basis for improving the surface accuracy of an optical mirror. Bayesian optimization error prediction optical mirror processing hybrid manipulators hyperparametrics deep learning Bayesova optimizacija napovedovanje napak obdelava optičnih zrcal hibridni manipulatorji hiperparametrika globoko učenej true false true Angleški jezik Slovenski jezik Članek v reviji 2022-04-29 09:20:19 2022-04-29 09:20:23 2022-09-15 04:13:51 0000-00-00 00:00:00 2022 0 0 Str. 175-184 no. 3 Vol. 68 Mar. 2022 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 2022-03-01 007.52:620.19 0039-2480 10.5545/sv-jme.2021.7455 105665027 Jin_..._-_Error_Prediction_for_a_Large_Optical_Mirror_Processing_Robot....pdf Jin_..._-_Error_Prediction_for_a_Large_Optical_Mirror_Processing_Robot....pdf 1 2D6FE3CB3D118B447053E01492C516C0 a49f9dac12bf0d96ade6a0c69703cc22bd077a3580503147a9c1d19748853c50 f687e0b0-c78c-11ec-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=156030 https://www.sv-jme.eu/sl/article/error-prediction-for-large-optical-mirror-processing-robot-based-on-deep-learning-2/ 1 c16f3abe-c78c-11ec-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=156029 Fakulteta za strojništvo Strojniški vestnik 0 0 0