Title :
Application of uniform structures and passive compliant components in an adaptive robot control for technological operation
Author :
Tar, József K. ; Kaynak, Okyay M. ; Rudas, Imre J. ; Bitó, János F.
Author_Institution :
Dept. of Inf. Technol, Banki Donat Polytech., Budapest, Hungary
Abstract :
A novel and efficient approach invented for the adaptive control of approximately and partially known multivariable, nonlinear, strongly coupled mechanical systems under dynamic interaction with an unmodeled environment is applied in polishing as a technological process. The method overcomes the typical limitations of classical approaches via using a passive compliant component as an essential part of the control. By applying uniform structures derived from the Euler-Lagrange equations in the most general and formal level the method is a compromise between the classic hard computing (HC) and soft computing (SC). Thus typical difficulties in traditional SC as the a priori unknown number of the necessary free parameters, the scaling problems and the need for full system identification are evaded. Several ancillary uniform procedures also are applied to support machine learning. The method is proved and illustrated via simulation in the case of a 3 DOF SCARA arm as a basic robot paradigm
Keywords :
adaptive control; control system analysis; control system synthesis; industrial manipulators; multivariable control systems; nonlinear control systems; polishing; Euler-Lagrange equations; SCARA arm; adaptive robot control; ancillary uniform procedures; control design; control simulation; free parameters; hard computing; machine learning; multivariable nonlinear strongly-coupled mechanical systems; passive compliant components; polishing process; scaling problems; soft computing; technological operation; uniform structures; Adaptive control; Equations; Force sensors; Mechanical systems; Motion control; Programmable control; Robot control; Robot sensing systems; Service robots; Space technology;
Conference_Titel :
Industrial Electronics, 1999. ISIE '99. Proceedings of the IEEE International Symposium on
Conference_Location :
Bled
Print_ISBN :
0-7803-5662-4
DOI :
10.1109/ISIE.1999.798727