Intelligent Control of Industrial Robot Using Recognition System and Artificial Neural Nets

Abstract

This paper presents the hierarchical intelligent control of an industrial robot using a system of artificial neural networks, based on an empirical control strategy. This type of intelligent industrial robots control provides a much wider domain of autonomy in the execution of manufacturing tasks, especially manipulation of parts, so these robots have the ability of machine learning based on "own experience". Conducted research has shown that improvements in terms of programming, flexibility, efficiency and skill of an intelligent mechatronic system - industrial robot depend on the degree of development and implementation of its machine learning by using two artificial neural networks: ART-1 net for pattern recognition of object and four-layer "back-propagation" net for coordinate mapping between the CCD camera and robot coordinates of TCP.