Abstract
The subject of consideration in this paper is a programmed control system of a robot manipulator. Mathematical description of the control system was presented taking into account the nonlinear dynamics of the robot mechanism. Synthesis of multivariable compensators of dynamic errors for a prototype control system was carried out. Computer models of the control system with synthesized compensators were developed using MATLAB package. The results of teaching of neural network compensators are given for a programmed trajectory of the robot gripper. Comparative analysis of dynamic errors in the prototype system and the system with neural network compensators was conducted.
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Zhengjie, Y., Rostova, E.N., Rostov, N.V. (2020). Neural Network Compensation of Dynamic Errors in a Robot Manipulator Programmed Control System. In: Arseniev, D., Overmeyer, L., Kälviäinen, H., Katalinić, B. (eds) Cyber-Physical Systems and Control. CPS&C 2019. Lecture Notes in Networks and Systems, vol 95. Springer, Cham. https://doi.org/10.1007/978-3-030-34983-7_54
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