Neural network control-based reload robot position controller

Abstract

A neural network control-based reload robot position controller comprises a neural network controller and a plurality of servo drivers. The neural network controller provides control information for the servo drivers. Each servo driver comprises a speed controller, a position controller and a current controller. The neural network controller adopts an Elman network in a dynamic recursive neural network structure to overcome the dynamic system identification problems, guarantee convergence rate and simplify learning rule method. An input layer is connected with the output of a sensor, and input information including position, speed and current signals is detected and controlled through the sensor. The Elman network improves local feedback and self-feedback elements in the self-learning manner, thus the robot control network is imparted a memory function to adapt to complicated dynamic environment.

Description

technical field [0001] The invention relates to a position controller for a heavy-duty robot combined with neural network control, which belongs to the field of robot automation control. Background technique [0002] Today, with the continuous and deep integration of industrialization and informatization, the manufacture of large-scale equipment requires the participation of heavy-duty robots. The heavy-duty robot can grab and place the workpiece according to the predetermined requirements to complete repetitive work, so as to reduce the labor intensity of workers, improve work efficiency, and promote the automation of industrial production. [0003] The heavy-duty robot is a highly nonlinear, strongly coupled multiple-input multiple-output system. There are many unknown factors and the complexity of the robot itself, so that its positioning and motion trajectory during work may be quite different from the theoretical value, which affects the work performance, so controllin...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is that the traditional single-input single-output linear control method cannot meet the application requirements, and a position controller for heavy-duty robots combined with neural network control is provided

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