An approximate internal model-based neural control for serial robots with multiple clearance joints. (December 2018)

• Record Type: Journal Article
• Authors: Yang, Lixin; Zhang, Xianmin
• Is Part Of: Advances in mechanical engineering. Volume 10:Number 12(2018)
• Publication Date: 2018-12
• Subjects: Serial robots -- multiple clearance joints -- neural networks -- internal model control -- dynamic modeling; Mechanical engineering -- Periodicals; 621.05
• DOI: 10.1177/1687814018812320
• Languages: English
• ISSNs: 1687-8132

Abstract

A dynamic model of serial robots with multiple clearance joints is developed. The contact phenomenon in the clearance joint is modeled by a continuous dissipative Hertz contact theory, and the friction force is calculated based on the modified Coulomb's friction law. A neural network method is employed to predict the dynamic response, which avoids the problem in solving the differential algebraic equations. An approximate internal model-based neural control method is proposed to control the undesired effects arising from the joint clearances. The validity of the proposed method is verified by simulation results.