A study on industrial robotic manipulator model using model based predictive controls |
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Authors: | Burhanettin Durmu? Hasan Temurta? Nejat Yumu?ak Fevzullah Temurta? |
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Affiliation: | (1) Department of Electric and Electronic Engineering, Sakarya University, 54187 Adapazari, Turkey;(2) Department of Electric and Electronic Engineering, Dumlupınar University, 41470 Kutahya, Turkey;(3) Department of Computer Engineering, Sakarya University, 54187 Adapazari, Turkey |
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Abstract: | In this study, a single input single output (SISO) neural generalized predictive control (NGPC) was applied to a six joint
robotic manipulator. The SISO generalized predictive control (GPC) was also used for comparison. Modeling of the dynamics
of the robotic manipulator was made by using the Lagrange–Euler equations. The cubic trajectory principle is used for position
reference and velocity reference trajectories. A simulation program was prepared by using Delphi 6.0. All computations for
manipulator dynamics model, GPC-SISO, and NGPC-SISO were done on PC with 1.6 GHz Centrino CPUs by using this program. The
parameter estimation algorithm used in the GPC-SISO is Recursive Least Squares. The minimization algorithm used in the NGPC-SISO
is Newton–Raphson. According to the simulation results, the results of the NGPC-SISO algorithm were better than those of the
GPC-SISO algorithm. |
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Keywords: | Robotic manipulator control Generalized predictive control Neural generalized predictive control Trajectory planning |
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