Learning of a controller for non-recurring fast movements

摘要

In this paper a learning method is described which enables a conventional industrial robot to accurately execute the teach-in path in the presence of dynamical effects and high speed. After training the system is capable of generating positional commands that in combination with the standard robot controller lead the robot along the desired trajectory. The mean path deviations are reduced to a factor of 20 for our test configuration. For low speed motion the learned controllers' accuracy is in the range of the resolution of the positional encoders. The learned controller does not depend on specific trajectories. It acts as a general controller that can be used for non-recurring tasks as well as for sensor-based planned paths. For repetitive control tasks accuracy can be even increased. Such improvements are caused by a three level structure estimating a simple process model, optimal a posteriori commands, and a suitable feedforward controller, the latter including neural networks for the representation of nonlinear behaviour. The learning system is demonstrated in experiments with a Manutec R2 industrial robot. After training with only two sample trajectories the learned control system is applied to other totally different paths which are executed with high precision as well.