Optically driven learning control for industrial manipulators

Author

Shoureshi, Rahmat ; Evans, Ronald D. ; Stevenson, Warren

Author_Institution

Sch. of Mech. Eng., Prudue Univ., West Lafayette, IN, USA

Volume

9

Issue

6

fYear

1989

Firstpage

21

Lastpage

26

Abstract

Dynamic interactions between the robot manipulator and its environment introduce control complications, and unmodeled dynamics and flexibilities in the manipulator itself introduce additional uncertainties. An optically based learning controller that can utilize past experience and sensory information about the current state to overcome these difficulties is presented. An inexpensive, single-function optical sensor uses a light-emitting diode and eight detectors to provide information on the distance normal to the surface of a workpiece. The method is implemented on a GE-P50 robot and can be used to track the unknown surface of the workpiece.<>

Keywords

adaptive control; distance measurement; image sensors; industrial robots; learning systems; position control; GE-P50 robot; distance measurement; flexibilities; industrial manipulators; light-emitting diode; optically based learning controller; position control; single-function optical sensor; surface tracking; uncertainties; unmodeled dynamics; Humans; Industrial control; Infrared sensors; Machine learning; Manipulator dynamics; Optical control; Optical sensors; Robot sensing systems; Robotics and automation; Service robots;

fLanguage

English

Journal_Title

Control Systems Magazine, IEEE

Publisher

ieee

ISSN

0272-1708

Type

jour

DOI

10.1109/37.41439

Filename

41439