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Position error of the underwater coordinate measurement machine (UWCMM) is estimated using an artificial neural network (ANN). The UWCMM has a multi joint serial link and the position of an underwater robot attached to the tip is obtained from kinematics of the link. However, the inaccuracy of the kinematics model creates a position error. In order to improve measurement accuracy, an ANN model which estimate position error of the kinematics of the UWCMM using joint angles data is constructed. The ANN model was trained by 462 data and verified by 42 data. The error estimation result of the trained ANN reduces maximally 66.5 % of the average of the position error of the verification data.

Position error estimation of the underwater coordinate measurement machine using artificial neural network