Modeling and Control of Robotic Manipulators Based on Symbolic Regression.

Abstract

Model-based design is an important method of addressing problems associated with designing complex control systems. For complex dynamic systems in the presence of uncertainties, the modeling process from the first principles becomes extremely tedious and simplification in mechanism and parameter measurement may result in model inaccuracy. On the contrary, machine learning has the characteristic of fitting complicated equations, which makes it widely used in the research of model identification. However, it only brings a black-box model where the design schemes based on an analytical model cannot be applied. In this article, a simple and novel scheme for modeling and control of robotic manipulators is proposed; without prior knowledge, a dynamic model in an analytical form is obtained from artificially excited training data using the symbolic regression technique, and then, a controller is designed based on the dynamic model. Due to the ingenious experimental design, on one hand, the amount of training data is far less than the system identification method by machine learning. On the other hand, a decoupling feature is used in the model that greatly simplifies controller design. The experimental results on two-degree of freedom (DOF) and 6-DOF robotic manipulator simulators verify that the scheme is feasible and effective.