Physics Informed Neural Network for Feedforward Control of a 2-DOF Manipulator with Flexure Joints

EasyChair Preprint no. 13411

Abstract

Feedforward control of a manipulator can be generated with a sufficiently accurate stable inverse model of the manipulator. It has been demonstrated before that a Lagrangian Neural Network (LNN), or Deep Lagrangian Networks (DeLaN), can be trained to estimate the conservative part of the driving forces for a specified trajectory. Such network is bound to physical constraints and hence can predict the (inverse) multibody system behaviour quite accurately and robustly from a relatively small dataset. However, it does not account for non-conservative contributions to the forces.

To include damping and friction in the estimates, this paper proposes to include additional terms in the underlying equations to obtain a so-called DeLaN+D. The performance of this network is evaluated with simulated and experimental data from a fully actuated 2-DOF manipulator with flexure joints. The achievable accuracy of the predicted feedforward forces appears to be better than 97% in experiments with a validation trajectory. The tracking accuracy during controlled motion is improved with about 80% using feedforward control with this DeLaN+D, which is comparable to using identified inverse multibody system dynamics.

Keyphrases: feedforward control, flexible multibody system, Flexure joints, Physics-informed neural network

@Booklet{EasyChair:13411,
  author = {Bram Harbers and Ronald Aarts},
  title = {Physics Informed Neural Network for Feedforward Control of a 2-DOF Manipulator with Flexure Joints},
  howpublished = {EasyChair Preprint no. 13411},

  year = {EasyChair, 2024}}