Advanced control of robot in tecnological operation

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Advanced control of robot in tecnological operation

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Tar, József K. / Rudas, Imre J. / Tenreiro Machado, J. A. / Horváth, László

A novel adaptive robot control tackling the problem of the approximately known robot dynamics and the unknown external dynamic interactions is presented in this paper. By applying uniform structures derived from the Euler-Lagrange equations in the most general and formal level it differs from and overcomes the limitations of classical feedfoward neural network-based approaches as far as the a priori unknown number of the necessary nodes and the scaling ranges of free parameters are concerned. Using a relatively simple structure of reduced number of parameters real time tuning can be carried out in the control. From the point of view of the possible local optimums resulting in improper control the structure here used seems to have the possible least complexity and coupling for a given degree of freedom robot. Several task- independent ancillary procedures also support the control. The method is illustrated via simulation in the case of a 3 active and one passive DOF SCARA arm used for polishing the surface of a bell-shaped work-piece. ; N/A