Sciweavers

Share
JCP
2008

A Neural Network Controller for Trajectory Control of Industrial Robot Manipulators

8 years 12 months ago
A Neural Network Controller for Trajectory Control of Industrial Robot Manipulators
This paper addresses the issue of trajectory tracking control based on a neural network controller for industrial manipulators. A new control scheme is proposed based on neural network technology and linear feedback approach for tracking a planned trajectory. In detail, the control system is designed with two parallel subsystems designed separately. One is a linear controller, and another one is neural network controller. The former is designed for trajectory tracking error regulation, the later for force/torque generation required by the designed dynamic trajectory. A leaning law for online weight updating of the neural network controller is derived based on simplified dynamic model of the robot. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example for trajectory tracking control experiments. Simulations and experiments are carried out on AdeptOne robot. From the simulation and experimental results, the effectiveness and usefulness of the prop...
Zhao-Hui Jiang, Taiki Ishida
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2008
Where JCP
Authors Zhao-Hui Jiang, Taiki Ishida
Comments (0)
books