A dynamic velocity feed-forward compensation （RBF-NN） dynamic model identification was presented for control （DVFCC） approach with RBF neural network the adaptive trajectory tracking of industrial robots. The prop...A dynamic velocity feed-forward compensation （RBF-NN） dynamic model identification was presented for control （DVFCC） approach with RBF neural network the adaptive trajectory tracking of industrial robots. The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model. The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accu- racy. The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can con- vert torque signal into velocity in the standard industrial controller. Then, the need for a torque control interface was avoided in the real-time dynamic control of industrial robot. The simulations and experiments were carried out on a gas cutting manipulator. The results show that the proposed control approach can reduce steady-state error, suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space, especially under high- speed condition.展开更多
The labor market requires, increasingly, an updated and more professional preparation, mainly due to the rapid pace of scientific technical advancement means in the industry. From this point, it is important to encour...The labor market requires, increasingly, an updated and more professional preparation, mainly due to the rapid pace of scientific technical advancement means in the industry. From this point, it is important to encourage the development of the basic techniques of control systems, electronics and communication in order to produce knowledge in the mechatronic field and so apply them to industry. Considering the relevance of this subject, the students of Federal University of Para-Campus Tucumi through the Research Group of Electrical and Mechanical Systems apply their knowledge in multidisciplinary engineering fields in order to generate knowledge from creative techniques using low cost materials, together with the encouragement of social and environmental responsibility which is very important nowadays. At the same time, targeting the needs of the labor market, this work aims to foster in students the skills and requirements through team projects and innovative methods. Therefore, this paper presents a mechanical manipulator, where their operating characteristics are based on industrial robots in the literature, powered by DC （direct current） motors and fully developed from reusable materials. By adding a developed control from the Arduino, prototyping platform with an electronic strategic offers through the internet the long-distance control convenience.展开更多
文摘A dynamic velocity feed-forward compensation （RBF-NN） dynamic model identification was presented for control （DVFCC） approach with RBF neural network the adaptive trajectory tracking of industrial robots. The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model. The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accu- racy. The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can con- vert torque signal into velocity in the standard industrial controller. Then, the need for a torque control interface was avoided in the real-time dynamic control of industrial robot. The simulations and experiments were carried out on a gas cutting manipulator. The results show that the proposed control approach can reduce steady-state error, suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space, especially under high- speed condition.
文摘The labor market requires, increasingly, an updated and more professional preparation, mainly due to the rapid pace of scientific technical advancement means in the industry. From this point, it is important to encourage the development of the basic techniques of control systems, electronics and communication in order to produce knowledge in the mechatronic field and so apply them to industry. Considering the relevance of this subject, the students of Federal University of Para-Campus Tucumi through the Research Group of Electrical and Mechanical Systems apply their knowledge in multidisciplinary engineering fields in order to generate knowledge from creative techniques using low cost materials, together with the encouragement of social and environmental responsibility which is very important nowadays. At the same time, targeting the needs of the labor market, this work aims to foster in students the skills and requirements through team projects and innovative methods. Therefore, this paper presents a mechanical manipulator, where their operating characteristics are based on industrial robots in the literature, powered by DC （direct current） motors and fully developed from reusable materials. By adding a developed control from the Arduino, prototyping platform with an electronic strategic offers through the internet the long-distance control convenience.
