Intelligent control of industrial robotic three degree of freedom crane using Artificial Neural Network

摘要

Cranes are widely used all over the world in industrial sector to reduce the man hours and increase efficiency. It is used for carrying load from one place to another, during this movement there are often undesired vibrations and fluctuations of lifted payload which needs to be controlled. Conventional PID techniques such as tuning of PID gains through Linear Quadratic Regulator (LQR) controller can be used to control these undesired vibrations. These techniques also result in some undesired overshoot and undershoot causing the payload to swing prior to system getting stable. However if these gains are further tuned by Artificial Neural Networks (ANN) then this undesired overshoot and undershoot can also be controlled.