Neural Network Learning Algorithms for High-Precision Position Control and Drift Attenuation in Robotic Manipulators

作者：Arkadiusz Mystkowski, Adam Wolniakowski, Nesrine Kadri, Mateusz Sewiolo, Lorenzo Scalera · 发表于：Applied Sciences · 年份：2023 · DOI：10.3390/app131910854 · 被引用次数：7 · 研究领域：Iterative Learning Control Systems、Adaptive Control of Nonlinear Systems、Advanced Control Systems Design

In this paper, different learning methods based on Artificial Neural Networks (ANNs) are examined to replace the default speed controller for high-precision position control and drift attenuation in robotic manipulators. ANN learning methods including Levenberg–Marquardt and Bayesian Regression are implemented and compared using a UR5 robot with six degrees of freedom to improve trajectory tracking and minimize position error. Extensive simulation and experimental tests on the identification and control of the robot by means of the neural network controllers yield comparable results with respect to the classical controller, showing the feasibility of the proposed approach.