Title :
SCARA robot control using neural networks
Author :
Al-Khedher, Mohammad A. ; Alshamasin, Mahdi S.
Author_Institution :
Dept. of Mechatron. Eng., Al-Balqa Appl. Univ., Amman, Jordan
Abstract :
A SCARA industrial robot model is identified based on a 4-axis structure using Lagrangian mechanics, also the dynamic model for the electromechanical actuator and motion transmission systems is identified. A conventional PD controller is implemented and compared to neural networks control system to achieve precise position control of SCARA manipulator. The performance of the modeled system is simulated using several desired tracking motion for each joint. Neural networks control method has shown a remarkable improvement of tracking capabilities for the SCARA robot over conventional PD controller. The proposed neural network controller has the potential to accurately control real-time manipulator applications.
Keywords :
PD control; electromechanical actuators; industrial manipulators; manipulator dynamics; neurocontrollers; position control; 4-axis structure; Lagrangian mechanics; PD controller; SCARA industrial robot model; SCARA manipulator; dynamic model; electromechanical actuator; motion transmission systems; neural networks control system; position control; realtime manipulator applications; tracking capabilities; Joints; Manipulator dynamics; Mathematical model; Robot kinematics; Solid modeling; SCARA robot; adaptive control; model-based control; neural networks;
Conference_Titel :
Intelligent and Advanced Systems (ICIAS), 2012 4th International Conference on
Conference_Location :
Kuala Lumpur
Print_ISBN :
978-1-4577-1968-4
DOI :
10.1109/ICIAS.2012.6306173
