Robotics and servo press control applications: Experimental implementations

摘要

Three case studies are performed in robotics and industrial servo press mechanism by using system's nonlinear dynamics. Robotic systems and servo crank press are currently available in Mechanical Engineering Department's laboratory (Gaziantep University/Turkey). Identification and simulation studies are carried out to get dynamic behavior of the systems of interest. Different motion trajectories are applied according to the requirements for all. Soft computing techniques are studied on these systems. Traditional PID is also applied. Control techniques are implemented as PSO-NN (Particle Swarm Optimization-Neural Network), BP (Back Propagation), PSO-PID; PID and also CasFF (Cascade Feed-Forward) control in laboratory testing in this study. All of the studies are given as experimental base herein.