Hybrid Position/Force Control of the SCORBOT-ER 4pc Manipulator with Neural Compensation of Nonlinearities

Gierlak, Piotr

doi:10.1007/978-3-642-29350-4_52

Cited by 15 publications

(25 citation statements)

References 5 publications

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“…Analizowano w nich m.in. zastosowanie metod klasycznych, układów neuronowych i neuronowo-rozmytych w sterowaniu pozycyjnym [6,7,9,10] oraz regulatorów konwencjonalnych (PID) i rozmytych w sterowaniu siłowym [11]. Inne rozwiązania sterowania siłowego przedstawione są w pracach [15,16].…”

Section: Wprowadzenieunclassified

Analiza więzów manipulatora w zadaniu zrobotyzowanej obróbki mechanicznej dyfuzora

Gierlak

2016

ZN PRz Mechanika

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Section: Wprowadzenieunclassified

Analiza więzów manipulatora w zadaniu zrobotyzowanej obróbki mechanicznej dyfuzora

Gierlak

2016

ZN PRz Mechanika

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“…The details of the reduced dynamics can be found in the works [1,3]. Let us to define the following variables…”

Section: The Description Of the Manipulator's Mathematical Model And mentioning

confidence: 99%

“…Application of adaptive artificial neural networks (ANNs) in the control system assures of correct tracking control of the manipulator even in a case, when the mathematical model of the control object is unknown. In this work, the hybrid position-force controller with a neural compensation of the manipulator nonlinearities is applied [3].…”

Section: Introductionmentioning

confidence: 99%

Conventional and Fuzzy Force Control in Robotised Machining

Hendzel

Burghardt

Gierlak

et al. 2013

SSP

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Abstract. This article presents an application of the hybrid position-force control of the robotic manipulator with use of artificial neural networks and fuzzy logic systems in complex control system. The mathematical description of the manipulator and a closed-loop system are presented. In the position control were used the PD controller and artificial neural networks, which compensate nonlinearities of the manipulator. The paper presents mainly the application of various strategies of the force control. The force control strategies using conventional controllers P, PI, PD, PID and fuzzy controllers are presented and discussed. All of the control methods were verified on the real object in order to make a comparison of a control quality.

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“…Veri cations were performed when the selected point of the mobile robot moves along a trajectory in the shape of a loop [2][3][4][5]. The end of the manipulator moves in a straight line [6][7][8]. The conducted groundbreaking research is an attempt to apply the mechanics of modern information technology, understood as real-time control, taking into account the parametric and nonparametric inaccuracies of modelling a nonlinear object.…”

Section: Introductionmentioning

confidence: 99%

Verification hybrid control of a wheeled mobile robot and manipulator

et al. 2016

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Abstract:In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system's nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was veri cation on the real object which was a Scorbot -ER 4pc robotic manipulator and a Pioneer -2DX mobile robot.

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Hybrid Position/Force Control of the SCORBOT-ER 4pc Manipulator with Neural Compensation of Nonlinearities

Cited by 15 publications

References 5 publications

Analiza więzów manipulatora w zadaniu zrobotyzowanej obróbki mechanicznej dyfuzora

Analiza więzów manipulatora w zadaniu zrobotyzowanej obróbki mechanicznej dyfuzora

Conventional and Fuzzy Force Control in Robotised Machining

Verification hybrid control of a wheeled mobile robot and manipulator

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