|
Wang Gang
Ren Guoli
Yan Xiang'an
Wang Guodong
Department of Mechanical Engineering, Tianjin University,
Tianjin 300072, China |
|
|
APPROACH TO IMPROVEMENT OF
ROBOT TRAJECTORY ACCURACY
BY DYNAMIC COMPENSATION*
Abstract: Some dynamic factors, such as inertial forces and friction, may affect the robot trajectory accuracy. But these effects are not taken into account in robot motion control schemes. Dynamic control methods, on the other hand, require the dynamic model of robot and the implementation of new type controller. A method to improve robot trajectory accuracy by dynamic compensation in robot motion control system is proposed. The dynamic compensation is applied as an additional velocity feedforward and a multilayer neural network is employed to realize the robot inverse dynamics. The complicated dynamic parameter identification problem becomes a learning process of neural network connecting weights under supervision. The finite Fourier series is used to activate each actuator of robot joints for obtaining training samples. Robot control system, consisting of an industrial computer and a digital motion controller, is implemented. The system is of open architecture with velocity feedforward function. The proposed method is not model-based and combines the advantages of close-loop position control and computed torque control. Experimental results have shown that the method is validatities to improve the robot trajectory accuracy.
Key words:
Robot Dynamic compensation Trajectory accuracy Identification |