Task-space control for industrial robot manipulators with unknown inner loop control architecture |
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| Institution: | 1. Department of Electrical and Power Engineering, University of Bamenda, PO Box: 39 Bambili, NW Region, Cameroon;2. Laboratory of Electronics, Department of physics, University of Yaounde 1, Yaoundé 8390, Cameroon;3. Department of Electrical and Telecommunications Engineering, University of Yaounde 1, Yaoundé 8390, Cameroon;4. Polytech’Lille, CRIStAL, CNRS-UMR 9189, Avenue Paul Langevin, Villeneuve d’Ascq 59655, France;1. Laboratory of Mechanics, Department of Physics, Faculty of Science, University of Yaounde I, P.O. Box 812, Yaounde, Cameroon;2. Department of Mechanical Engineering, Higher Technical Teacher''s Training College (ENSET) Ebolowa, University of Ebolowa, P.O. Box 886, Ebolowa, Cameroon;1. Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, PR China;2. The School of Cyber Science and Technology, Beihang University, Beijing 100191, PR China;1. College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China;2. Key Laboratory of Mining Disaster Prevention and Control, Qingdao 266590, China |
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| Abstract: | The operational space control of a robot manipulator using external sensors requires stabilizing the compound system {external sensors - outer controller - inner controller - robot manipulator}. The user must access the inner controller to reshape it to achieve this stabilization. Due to intellectual property protection purposes, most industrial robots have an unknown or inaccessible inner controller. Therefore, it is tricky to design a stable control scheme. To solve this problem, an adaptive radial basis function neural network (RBF NN) outer controller is proposed, which approximates the inner controller’s dynamics to eliminate its effect in the closed-loop. An inherent property for RBF NN is used to reduce the number of adaptive parameters. Since this technique introduces approximation errors, it is included in the control scheme, a term that constrains the system to converge rapidly to the performances prescribed by the user. It is proved that all the closed-loop signals are semi-globally uniformly ultimately bounded (SGUUB) through Lyapunov theory. The effectiveness of the proposed approach is verified through simulation comparisons and experimental studies. |
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