Transactions on Control, Automation and Systems Engineering

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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High-Precision Contour Control by Gaussian Neural Network Controller for Industrial Articulated Robot Arm with Uncertainties

  • Zhang, Tao (Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University) ;
  • Nakamura, Masatoshi (Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University)
  • Published : 2001.12.01
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Abstract

Uncertainties are the main reasons of deterioration of contour control of industrial articulated robot arm. In this paper, a high-precision contour control method was proposed to overcome some main uncertainties, such as torque saturation, system delay dynamics, interference between robot links, friction, and so on. Firstly, each considered factor of uncertainties was introduced briefly. Then proper realizable objective trajectory generation was presented to avoid torque saturation from objective trajectory. According to the model of industrial articulated robot arm, construction of Gaussian neural network controller with considering system delay dynamic, interference between robot links and friction was explained in detail. Finally, through the experiment and simulation, the effectiveness of proposed method was verified. Furthermore, based on the results it was shown that the Gaussian neural network controller can be also adapted for the various kinds of friction and high-speed motion of industrial articulated robot arm.

Keywords

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