NDLI: An Optically Driven Learning Control for Industrial Manipulators

Content Provider	IEEE Xplore Digital Library
Author	Shoureshi, R. Brown, P. Evans, R. Stevenson, W.
Copyright Year	1988
Description	Author affiliation: School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907 (Shoureshi, R.; Brown, P.; Evans, R.; Stevenson, W.)
Abstract	Automation of manufacturing processes often involves integration of some type of robotic manipulator. Automatic brushing, painting, deburring, welding, and seam tracking are examples of tasks that manipulators should be able to perform accurately and autonomously. However, there are dynamic interactions between the manipulator and its environment that produce uncertainties and the manipulator controller has to be capable of compensating for them. Furthermore, due to unmodelled dynamics and flexibilities in the manipulator itself, the task of the controller becomes even more complicated. This paper presents an optical-based learning controller that utilizes past experience and sensory information about the current state to overcome these difficulties. This scheme tries to mimic the way a human brain compensates for such uncertainties. The optical sensor uses an LED emitter and eight detectors to provide distance information normal to the surface of the workpiece. The resulting scheme is implemented on a GE-P50 robot and used to track different unknown surfaces.
Starting Page	614
Ending Page	619
File Size	486344
Page Count	6
File Format	PDF
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-06-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Optical control Industrial control Manipulator dynamics Optical sensors Automatic control Robotics and automation Uncertainty Manufacturing industries Manufacturing automation Manufacturing processes
Content Type	Text
Resource Type	Article

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