Velocity-based discrete-time control system with intelligent control concepts for openarchitecture industrial robots
Abstract:
A simulation technique of velocity-based discrete-time control system for open-architecture industrial robots is presented by giving and combining examples of intelligent controls such as genetic algorithms, fuzzy control and neural networks. In order to develop a novel control system for an open-architecture industrial robot, it is required with regard to safety, cost and simplicity to preliminarily examine and evaluate the characteristics and the performance. The proposed simulation technique has a high applicability.
Key words
servo system
dynamic simulation
PUMA560
gain tuning
genetic algorithms
force control ...
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