A Control Scheme for Industrial Robots Using Artificial Neural Networks

摘要

This paper develops a new model-free control scheme based on artificial neural networks (ANN) for trajectory tracking applied on industrial manipulators. This scheme is developed to control arm robot manipulator without calculate the model parameters or dynamics, and use the online identification instead. The scheme consists of three parts. These parts are inverse identification part, ANN controller and linear controller. Inverse dynamics of the manipulator is identified by recurrent ANN that gives the identified torque. The ANN controller works on controlling the arm robot depends on the identifying torque. The linear controller designed for trajectory tracking error regulation. The identification and control ANN work together to improve the response of the linear controller. A simulated two-link arm robot is used to apply the control scheme on it. The scheme verified by mass variation. A comparison between the response of the manipulator with linear controller only and with the fully scheme has been carried out. The results show that adding the identification and control ANN improve the results of the linear controller.