Precise position control of hydraulic driven stenciling robot using neural network

신경회로망을 이용한 유압 스텐슬링 로봇의 정확한 위치 제어

In this paper, accurate position control of a stenciling robot manipulator is designed. The stenciling robot is requried to draw lines and characters on the pavement. Since the robot is huge and heavy, the inertia is expected to play a major role in the tracking performance as desired. Here we are proposing neural network control scheme for a computed-torque like controller for the stenciling robot. On-line compensation is achieved by neural network. Simulation studies with stenciling robot are carried out to test the performance of the proposed control scheme.