Precise position control of stenciling robot manipulator using neural network

In this paper, accurate position control of a stenciling robot manipulator is designed. The stenciling robot mounted an a truck is required to draw lines and characters in the Cartesian space. One of the goals of the stenciling robot design is to make the controller simple as possible such that a simple PID controller can be used. Since the robot is huge and heavy, the inertia of the robot is expected to play a major role in the tracking performance. The conventional PID controller works within certain accuracy, but does not guarantee the accurate tracking performance as desired. Here we are proposing neural network control scheme for a computed-torque like controller for the stenciling robot. The stability of the closed loop system is analyzed based on Lyapunov theory. Simulation studies with the stenciling robot are carried out to test the performances.