Neural Adaptive Control of a Robot Joint Using Secondary Encoders
- Using industrial robots for machining applications in flexible manufacturing processes lacks a high accuracy. The main reason for the deviation is the flexibility of the gearbox. Secondary Encoders (SE) as an additional, high precision angle sensor offer a huge potential of detecting gearbox deviations. This paper aims to use SE to reduce gearbox compliances with a feed forward, adaptive neural control. The control network is trained with a second network for system identification. The presented algorithm is capable of online application and optimizes the robot accuracy in a nonlinear simulation.
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| Author: | Jonas WeigandORCiD, Magnus VolkmannORCiD, Martin RuskowskiORCiD |
|---|---|
| URN: | urn:nbn:de:hbz:386-kluedo-62123 |
| ISBN: | 978-3-030-19648-6 |
| ISSN: | 2194-5365 |
| Parent Title (English): | Advances in Service and Industrial Robotics |
| Publisher: | Springer |
| Place of publication: | Switzerland |
| Editor: | Karsten BernsORCiD, Daniel GörgesORCiD |
| Document Type: | Article |
| Language of publication: | English |
| Date of Publication (online): | 2021/01/13 |
| Year of first Publication: | 2019 |
| Publishing Institution: | Technische Universität Kaiserslautern |
| Date of the Publication (Server): | 2021/01/13 |
| Tag: | Neural Adaptive Control; Robot control; Secondary Encoders |
| Page Number: | 8 |
| Source: | https://link.springer.com/book/10.1007/978-3-030-19648-6#editorsandaffiliations |
| Faculties / Organisational entities: | Kaiserslautern - Fachbereich Maschinenbau und Verfahrenstechnik |
| DDC-Cassification: | 5 Naturwissenschaften und Mathematik / 500 Naturwissenschaften |
| Licence (German): |  Creative Commons 4.0 - Namensnennung (CC BY 4.0) |
| Licence (German): | Zweitveröffentlichung |