Abstract
In this study, a single input single output (SISO) neural generalized predictive control (NGPC) was applied to a six joint robotic manipulator. The SISO generalized predictive control (GPC) was also used for comparison. Modeling of the dynamics of the robotic manipulator was made by using the Lagrange–Euler equations. The cubic trajectory principle is used for position reference and velocity reference trajectories. A simulation program was prepared by using Delphi 6.0. All computations for manipulator dynamics model, GPC-SISO, and NGPC-SISO were done on PC with 1.6 GHz Centrino CPUs by using this program. The parameter estimation algorithm used in the GPC-SISO is Recursive Least Squares. The minimization algorithm used in the NGPC-SISO is Newton–Raphson. According to the simulation results, the results of the NGPC-SISO algorithm were better than those of the GPC-SISO algorithm.
Similar content being viewed by others
References
Armstrong, B., Khatib, O., & Burdick, J. (1986). The explicit dynamic model and inertial parameters of the PUMA 560 arm. In IEEE Conference on Robotics and Automation, pp. 510–518, April 1986.
Clarke D.W., Mohtadi C., Tuffs P.C. (1987a) Generalized Predictive Control—Part 1: The Basic Algorithm. Automatica 23: 137–148
Clarke D.W., Mohtadi C., Tuffs P.C. (1987b) Generalized Predictive Control—Part 2: Extensions and Interpretations. Automatica 23: 149–163
De N.M., Gorez R. (1993) Fuzzy and Quantitative Model-Based Control System for robotic manipulators. International Journal of System Science 24: 1863–1883
Eskandarian A., Bedewi N.E., Kramer B.M., Barbera A.J. (1994) Dynamics modeling of robotic manipulators using an artificial neural network. Journal of Robotic Systems 11(1): 41–56
Haykin S. (1994) Neural networks, a comprehensive foundation. Macmillan Publishing Company, Englewood Cliffs, NJ
Hosogi S., Watanabe N., Sekiguchi M. (1993) A neural network model of the cerebellum performing dynamic control of a robotic manipulator by learning. Fujitsi Science and Technical Journal 29: 201–208
Hu, H., & Gum, D. (1999). Generalized predictive control of an industrial mobile robot. In IASTED International Conference, Intelligent Systems and Control, Santa Barbara, California, USA, pp. 234–240, October 28–30.
Lee C.S.G. (1982) Robot arm kinematics-dynamics, and control. IEEE Computer 15(12): 62–80
Seraji H. (1989) Configuration control of redundant manipulators: Theory and implementation. IEEE Transactions on Robotics and Automation 5(4): 472–490
Shuzhi S.G., Hang C.C., Woon L.C. (1997) Adaptive neural network control of robot manipulators in task space. IEEE Transactions on Industrial Electronics 44(6): 746–752
Silver W.M. (1982) On the equivalence of Lagrangian and Newton–Euler dynamics for manipulators. The International Journal of Robotics Research 1(2): 60–70
Soloway, D. (1996). Neural generalized predictive control for real-time control. Masters Thesis, Old Dominion University.
Soloway, D., & Haley, P. J. (1997). Neural generalized predictive control: A Newton–Raphson implementation. NASA Technical Memorandum 110244, Langley Research Center, Hampton, Virginia.
Sorensen P.H., Nørgaard M., Ravn O., Poulsen N.K. (1999) Implementation of neural network based non-linear predictive control. Neurocomputing 28: 37–51
Temurtas F., Temurtas H., Yumusak N. (2005) Application of neural generalized predictive control to robotic manipulators with a cubic trajectory and random disturbances. Robotics and Autonomous Systems 54: 74–83
Temurtas F., Temurtas H., Yumusak N., Oz C. (2003) Effects of the trajectory planning on the model based predictive robotic manipulator control. Lecture Notes in Computer Sciences 2869: 545–552
Vashisth, H., & Woo, P.-Y. (1996). Application of fuzzy logic to robotic control. Proceedings of the 1996 IEEE IECON 22nd International Conference on Industrial Electronics, Control, and Instrumentation, 3, 1867–1872.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Durmuş, B., Temurtaş, H., Yumuşak, N. et al. A study on industrial robotic manipulator model using model based predictive controls. J Intell Manuf 20, 233–241 (2009). https://doi.org/10.1007/s10845-008-0221-2
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10845-008-0221-2