Title :
Evolution strategies applied to controls on a two axis robot
Author :
Hofmann, W. ; Richter, R.
Author_Institution :
Dept. of Electr. Machines & Drives, Tech. Univ. Chemnitz, Germany
Abstract :
The paper will focus on modern control techniques applied on a two axis robot with synchronous servo drives. Based on an experimental modeling different linear and nonlinear controllers are designed and implemented. The design process was optimized by evolution strategies. These strategies had been also used for an online tuning of controller parameter. The implementation runs on a Pentium PC with IO-board and on a 80C166 microcontroller board with a DSP extension (ADSP 2111).
Keywords :
control system synthesis; evolutionary computation; manipulators; microcontrollers; optimal control; servomechanisms; 2-axis robot controls; 80C166 microcontroller board; ADSP 2111; DSP extension; IO-board; Pentium PC; evolution strategies; linear controllers; nonlinear controllers; online controller parameter tuning; synchronous servo drives;
Conference_Titel :
Advanced Motion Control, 2000. Proceedings. 6th International Workshop on
Conference_Location :
Nagoya, Japan
Print_ISBN :
0-7803-5976-3
DOI :
10.1109/AMC.2000.862873
