A Research of BP Neural Network Based on Dynamics for Robot Manipulator

被引：0
|
作者：
Zhou Bo [1 ]
机构：
[1] Zaozhuang Vocat Coll Sci & Technol, Dept Training Ctr, Zaozhuang, Peoples R China
来源：
MATERIALS SCIENCE AND INFORMATION TECHNOLOGY, PTS 1-8 | 2012年 / 433-440卷
关键词：
ANN; BP algorithm; Robot; Dynamics; ITERATIVE LEARNING CONTROL;
D O I：
10.4028/www.scientific.net/AMR.433-440.3192
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
In this paper, a dynamics model basing on the BP algorithm is proposed. The algorithm that can enhance the performance of the adaptability is the combination of torque control and a compensation structure using ANN. Errors are inevitable while the modeling for dynamics of robot manipulator. But they can be compensated by the compensation structure of ANN. The result of simulation shows that the controller can get the performance of trajectory well and the structure of controller is feasible.
引用
收藏
页码：3192 / 3195
页数：4
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