Control System of the RobotManipulator with Use of Neural Network Algorithms of Restriction of Work Area of the Gripper

Authors

  • I. V. Voynov Author
  • A. M. Kazantsev Author
  • B. A. Morozov Author
  • M. V. Nosikov Author

Abstract

This article covers control system architecture of industrial robot (manipulator), designed to work in heavy nuclear fields. To increase safety of manipulator control and moving an additional level of monitoring gripper position has been added to control system. This level includes artificial neural network, based on perceptron with output signal in range [0;1], which is used as a coefficient of transferring manual controls from joysticks to internal loops of control system. Outlined the way of preparing teaching data set for neural network and results of control system math modeling.

Author Biographies

  • I. V. Voynov
    д-р техн. наук, профессор, директор
  • A. M. Kazantsev
    старший преподаватель кафедры автоматики
  • B. A. Morozov
    заведующий лабораторией робототехники
  • M. V. Nosikov
    старший преподаватель кафедры автоматики

Published

2017-12-01

Issue

Section

Control in Technical Systems