HIERARCHICAL ADAPTIVE CONTROL SYSTEM OF A MANIPULATOR BASED ON THE SYNTHESIS OF A NEURAL NETWORK OF FUZZY INFERENCE AND AN ITERATIVE REFINEMENT ALGORITHM

摘要

The main aim of this work is to develop an adaptive control system for a kinematically redundant multilink industrial manipulator. Proposed solution allows to construct a unified real-time control system with the ability to control the accuracy of calculations. In order to achieve the required accuracy of the calculations and the performance of the control system, we propose an algorithm that is based on the so-called hybrid method for finding the solution of the inverse kinematics (IK) problem, including the adaptive neural network and fuzzy inference system with subsequent iterative refinement of numerical solution by the Newton - Raphson method. The influence of the training sample size on the quality of the obtained initial approximation for the neural network part of the algorithm is described in the paper. The results of experimental studies of the developed hybrid algorithm are presented in comparison with the iterative and neural network methods for three-, five- and eight-link manipulator structures. Paper presents the main steps of the control system synthesis for kinematically redundant industrial manipulator, including the description for developed algorithms for finding an IK solution of multilink structures. The structure of a multi-level hierarchical manipulator control system, based on a programmable logic controller and electric stepping motors with the possibility of integration into the production system at various levels, is presented.