Neural network-based nonlinear tracking control of kinematically redundant robot manipulators

被引：57

作者：

Kumar, Naveen ^{[1
]}

Panwar, Vikas ^{[2
]}

Sukavanam, N. ^{[3
]}

Sharma, S. P. ^{[3
]}

Borm, J. H. ^{[1
]}

机构：

[1] Ajou Univ, Dept Mech Engn, Suwon 443749, South Korea

[2] CDL Univ, Dept Math, Sirsa 125055, Haryana, India

[3] IIT Roorkee, Dept Math, Roorkee 247667, Uttar Pradesh, India

来源：

MATHEMATICAL AND COMPUTER MODELLING | 2011年 / 53卷 / 9-10期

关键词：

Redundant manipulators; Feedforward neural network; Lyapunov stability; Subtask tracking; CRITERIA;

D O I：

10.1016/j.mcm.2011.01.014

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

In this paper, neural network-based nonlinear dynamical control of kinematically redundant robot manipulators is considered. The neural network-based controller achieves end-effector trajectory tracking as well as subtask tracking effectively. A feedforward neural network is employed to learn the parametric uncertainties, existing in the dynamical model of the robot manipulator. The whole system is shown to be stable in the sense of Lyapunov. Numerical simulation studies are carried out for a 3R planar robot manipulator to show the effectiveness of the control scheme. (C) 2011 Elsevier Ltd. All rights reserved.

引用

页码：1889 / 1901

页数：13

共 50 条

[21] Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria
Oezbay, Ufuk
Sahin, H. Tuerker
Zergeroglu, Erkan
ROBOTICA, 2008, 26 (711-728) : 711 - 728
[22] Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria
Zergeroglu, Erkan
Sahin, Husnu Turker
Oezbay, Ufuk
Tektas, Umit Ali
PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4, 2006, : 1796 - +
[23] Time optimal path-tracking control of kinematically redundant manipulators
Ma, SG
Watanabe, M
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 2004, 47 (02) : 582 - 590
[24] ON THE CONTROL OF BIOLOGICALLY AND KINEMATICALLY REDUNDANT MANIPULATORS
GIELEN, CCAM
VANBOLHUIS, BM
THEEUWEN, M
HUMAN MOVEMENT SCIENCE, 1995, 14 (4-5) : 487 - 509
[25] Obstacle avoidance for kinematically redundant manipulators using a dual neural network
Zhang, YN
Wang, J
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2004, 34 (01): : 752 - 759
[26] Torque minimization of kinematically redundant manipulators using a dual neural network
Zhang, YN
Wang, J
8TH INTERNATIONAL CONFERENCE ON NEURAL INFORMATION PROCESSING, VOLS 1-3, PROCEEDING, 2001, : 1145 - 1150
[27] Improved neural network-based adaptive tracking control for manipulators with uncertain dynamics
Wang, Dong-hui
Zhang, Shi-jie
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2020, 17 (04)
[28] Stable neural network adaptive control of constrained redundant robot manipulators
Benallegue, A
Daachi, B
Cherif, AR
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, 2002, : 2193 - 2199
[29] Neural network-based robust tracking control for nonholonomic mobile robot
Peng, Jinzhu
Wang, Yaonan
Yu, Hongshan
ADVANCES IN NEURAL NETWORKS - ISNN 2007, PT 1, PROCEEDINGS, 2007, 4491 : 804 - +
[30] Wavelet neural network-based H∞ trajectory tracking for robot manipulators using fast terminal sliding mode control
Panwar, Vikas
ROBOTICA, 2017, 35 (07) : 1488 - 1503

← 1 2 3 4 5 →