DocumentCode :
2539835
Title :
Trajectory tracking control of industrial robot manipulators using a neural network controller
Author :
Jiang, Zhao-Hui ; Ishida, Taiki
Author_Institution :
Hiroshima Inst. of Technol., Hiroshima
fYear :
2007
fDate :
7-10 Oct. 2007
Firstpage :
2390
Lastpage :
2395
Abstract :
In this paper, trajectory tracking control based on a neural network controller for industrial manipulators is addressed. A new control scheme is proposed based on neural network technology and traditional control method for dynamic trajectory tracking of the industrial robot manipulator. In detail, the control system is designed with two parallel subsystems designed separately. One is a PD controller, and another one is neural network controller. The former is designed for trajectory tracking error regulation, the later for force/torque generation required by the designed dynamic trajectory. A learning law for online weight updating of the neural network controller is derived based on simplified dynamic model of the robot. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example for trajectory tracking control experiments. Simulations and experiments are carried out on AdeptOne robot. From the simulation and experimental results the effectiveness and usefulness of the proposed control system are confirmed.
Keywords :
PD control; control system synthesis; feedforward; industrial manipulators; learning (artificial intelligence); neurocontrollers; position control; tracking; PD controller; control system design; feedforward network; force-torque generation; industrial robot manipulators; learning law; neural network controller; parallel subsystems; trajectory tracking control; trajectory tracking error regulation; Control systems; Electrical equipment industry; Industrial control; Manipulator dynamics; Neural networks; PD control; Robot control; Service robots; Torque; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
978-1-4244-0990-7
Electronic_ISBN :
978-1-4244-0991-4
Type :
conf
DOI :
10.1109/ICSMC.2007.4413635
Filename :
4413635
Link To Document :
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