Research on Neural Network PID Adaptive Control with Industrial Welding Robot in Multi-degree of Freedom
Motion and control system with industrial robot in multi-degree of freedom (multi-DOF) is the typical mechatronics system,which combines mechanics,electronics,sensors,computer hardware and software,control,artificial intelligence and modeling technology,and many other advanced technologies.This paper establishes a six-DOF welding robot model,and proposes a complex control method based on improved neural network-PID which uses PSO algorithms global optimization capability and strong convergence to improve BP network weights.The method is based on backward error propagation of the basic BP algorithm,adjusting the BP network weights and thresholds corresponding to the updating particle position.It takes full advantage of the global optimization of PSO algorithm and maintains the BP algorithms back-propagation characteristics better.The simulation results show that the method can optimize the dynamic process and reduce the steady-state error of system.It has good value for the control technology.
industrial welding robot motion and control PSO BP neural network PID
Yuan Jing Wang Rui Jiang Li
Chongqing Academy of Metrology and Quality Inspection Chongqing,China
国际会议
重庆
英文
280-284
2016-03-20（万方平台首次上网日期，不代表论文的发表时间）