Practical Demonstration Of A Learning Control System For A Five-Axis Industrial Robot

Robert P. Hewes; W. Thomas Miller III

doi:10.1117/12.960330

27 March 1989 Practical Demonstration Of A Learning Control System For A Five-Axis Industrial Robot

Robert P. Hewes, W. Thomas Miller III

Proceedings Volume 1002, Intelligent Robots and Computer Vision VII; (1989) https://doi.org/10.1117/12.960330
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

The overall complexity of many robotic control problems, and the ideal of a truly general robotic control system, have led to much discussion of the use of neural networks in robot control. This paper discusses a learning control technique which uses an extension of the CMAC network developed by Albus, and presents the results of real time control experiments which involved learning the dynamics of a 5 axis industrial robot (General Electric P-5) during high speed movements. During each control cycle, a training scheme was used to adjust the weights in the network in order to form an approximate dynamic model of the robot in appropriate regions of the control space. Simultaneously, the network was used during each control cycle to predict the actuator drives required to follow a desired trajectory, and these drives were used as feedforward terms in parallel to a fixed gain linear feedback controller. Trajectory tracking errors were found to converge to low values within a few training trials, and to be relatively insensitive to the choice of feedback control system gains.

Citation Download Citation

Robert P. Hewes and W. Thomas Miller III "Practical Demonstration Of A Learning Control System For A Five-Axis Industrial Robot", Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); https://doi.org/10.1117/12.960330

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