DocumentCode
2336108
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
fYear
2000
fDate
1-1 April 2000
Firstpage
276
Lastpage
280
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 2000. Proceedings. 6th International Workshop on
Conference_Location
Nagoya, Japan
Print_ISBN
0-7803-5976-3
Type
conf
DOI
10.1109/AMC.2000.862873
Filename
862873
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