Karafan Journal

Karafan Journal

Design and Simulation of an Adaptive Neuro-controller for a Wire Driven Flexible Arm Robot

Document Type : Original Article

Authors
Mona Tahmasebi 1
Mohammad gohari 2
1 Assistant Professor, Agricultural Engineering Research Department, Markazi Agricultural and Natural Resources Research and Education Center, Agricultural Research, Education and Extension, Organization (AREEO), Arak, Iran.
2 Assistant Professor, Faculty of Mechanical Engineering, Arak University of Technology, Arak, Iran.
10.48301/kssa.2023.361179.2280
Abstract
Nowadays, robots are employed widely, and they are utilized in many operations and occupations. They are not just luxury devices or entertainment tools, but they are used to reduce costs and increase the accuracy of functions such as robotic surgery or agricultural harvesting in countries with high labor costs. One type of robot is a wire-driven robot developed recently for industrial inspections, laparoscopic surgeries, and crop harvesting. This type of robot has a limited range of payloads supporting and accuracy in positioning, but simple structure and adaptability by working space lead to focus by researchers. The current paper introduces a wire-driven flexible robot where its kinematic and dynamic models are presented based on the Euler-Bernoulli beam theory. Regards to stated models, a proportional-derivative-integrator controller (PID) is employed for this dynamic system. In addition, an adaptive neuro controller with two hidden layers and five neurons was established for that. Various functions such as step, ramp, sinusoidal, random, and square signals are exposed to both controllers as inputs to study their stability and accuracy. The adaptive neuro controller responses are as good as the PID controller though in the face of random and sinusoidal inputs did not show better performance.
Keywords
Wire-driven Flexible Robot Arm
Kinematic Model
Dynamic Model
Inverse Dynamic
PID Controller
Adaptive Neuro-controller
Subjects
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Karafan Journal
Volume 20, Issue 1 - Serial Number 61
Technical & Engineering
Spring 2023
Pages 243-262

  • Receive Date 09 October 2022
  • Revise Date 12 January 2023
  • Accept Date 31 January 2023