Intelligent control of robot arm using artificial neural networks

Author(s):  
Y. Yamada ◽  
B. Kermanshahi ◽  
N. Tagawa ◽  
T. Moriya
2021 ◽  
pp. 14-22
Author(s):  
G. N. KAMYSHOVA ◽  

The purpose of the study is to develop new scientific approaches to improve the efficiency of irrigation machines. Modern digital technologies allow the collection of data, their analysis and operational management of equipment and technological processes, often in real time. All this allows, on the one hand, applying new approaches to modeling technical systems and processes (the so-called “data-driven models”), on the other hand, it requires the development of fundamentally new models, which will be based on the methods of artificial intelligence (artificial neural networks, fuzzy logic, machine learning algorithms and etc.).The analysis of the tracks and the actual speeds of the irrigation machines in real time showed their significant deviations in the range from the specified speed, which leads to a deterioration in the irrigation parameters. We have developed an irrigation machine’s control model based on predictive control approaches and the theory of artificial neural networks. Application of the model makes it possible to implement control algorithms with predicting the response of the irrigation machine to the control signal. A diagram of an algorithm for constructing predictive control, a structure of a neuroregulator and tools for its synthesis using modern software are proposed. The versatility of the model makes it possible to use it both to improve the efficiency of management of existing irrigation machines and to develop new ones with integrated intelligent control systems.


2019 ◽  
Vol 13 (2) ◽  
pp. 135-150 ◽  
Author(s):  
Sabine Horvath ◽  
Hans Neuner

Abstract The development of an algorithm to describe a dynamic system and to predict its future behaviour in further consequence is the aim of the present study. Non parametric models provide a general description of object dynamics and artificial neural networks (ANN), which are a very flexible and universal learning method, belong to it. However, the standard estimation procedures for ANN like Levenberg-Marquardt (LM) do not consider that data is observed and consequently is uncertain. The combination with the extended Kalman filter (EKF) enables the consideration of the uncertainty in the estimation process. The analogies between EKF and LM are discussed and thereon the advantages of the EKF are outlined. The integration of ANN into EKF will be evaluated on an industrial robot arm. At first, a simplified model is determined; the ANN describes the robot position deviations as a function of the joint encoder values. The robot reference positions are measured by a laser tracker. In order to compare it with the robot outputs, the observations need to be transformed to the robot frame and the offset between the end-effector and the robot flange has to be determined. A method to estimate both parameters simultaneously is developed and the results are verified on basis of simulated data. This paper comprises two novel approaches. First, uncertainty is considered in the ANN estimation on basis of the combination with the EKF. Considering the full covariance matrix of the robot deviations leads to a better prediction of the robot’s behaviour. Second, an integrated transformation and lever arm determination is introduced and the robot’s repeatability presents the limiting factor of the achievable parameter uncertainty.


2014 ◽  
Vol 556-562 ◽  
pp. 6011-6014 ◽  
Author(s):  
Xiao Guang Li

Intelligent control is a class of control techniques that use various AI computing approaches like neural networks, Bayesian probability, fuzzy logic, machine learning, evolutionary computation and genetic algorithms. In computer science and related fields, artificial neural networks are computational models inspired by animals’ central nervous systems (in particular the brain) that are capable of machine learning and pattern recognition. They are usually presented as systems of interconnected “neurons” that can compute values from inputs by feeding information through the network. Like other machine learning methods, neural networks have been used to solve a wide variety of tasks that are hard to solve using ordinary rule-based programming, including computer vision and speech recognition.


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