Real-Time Inverse Dynamic Deep Neural Network Tracking Control for Delta Robot Based on a COVID-19 Optimization

摘要

This paper presents a new technique to design an inverse dynamic model for a delta robot experimental setup to obtain an accurate trajectory. The input/output data were collected using an NI DAQ card where the input is the random angles profile for the three-axis and the output is the corresponding measured torques. The inverse dynamic model was developed based on the deep neural network (NN) and the new COVID-19 optimization to find the optimal initial weights and bias values of the NN model. Due to the system uncertainty and nonlinearity, the inverse dynamic model is not enough to track accurately the preselected profile. So, the PD compensator is used to absorb the error deviation of the end effector. The experimental results show that the proposed inverse dynamic deep NN with PD compensator achieves good performance and high tracking accuracy. The suggested control was examined using two different methods. The spiral path is the first, with a root mean square error of 0.00258 m, while the parabola path is the second, with a root mean square error of 0.00152 m.