Improvement of Accuracy of Positioning for Three/Six Axes Arm Robot by Intelligent Control

Abstract

This paper presents an intelligent expert control system to improve accuracy of positioning for 3/6 axes arm robot. It was possible to decrease also the control deviation within the small range by a semi-closed-loop control of the angle of the servo that used a cheap arm robot with cheap potentiometers by extending to the whole area of the targeted value in the positioning control, and the average decrease rate of control deviation was 36.7%.