Neural network based manipulator control with time-optimal robot path tracking

被引：0
|
作者：
Veryha, YB [1 ]
Kourtch, L [1 ]
机构：
[1] Belarussian State Polytech Acad, Dept Mech Engn, Minsk 220085, BELARUS
来源：
PROCEEDINGS OF THE 2000 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS | 2000年
关键词：
neural network; robotic system; path-tracking; time-optimal control;
D O I：
10.1109/CCA.2000.897527
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A method aiming at implementing time-optimal central to enable robots under predictive neural network based control method to track paths to a prescribed tolerance is developed The paper considers the predictive control method for controlling robotic manipulators. A multi-layered neural network is provided as an identification model for the object to be controlled. The proposed method and a system for adaptive robot control provide connection to the tracking accuracy. Simulation results confirm the theories and suggest that the scheme can be applied in a robust fashion to achieve time-optimal path-tracking that is accurate to a prescribed tolerance and achieves good torque utilization most of the time.
引用
收藏
页码：748 / 753
页数：6
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