Modeling the Dynamic of SCARA Robot Using Nonlinear Autoregressive Exogenous Input Neural Network Model

被引：0
|
作者：
Rafiei, Hamed [1 ]
Hosseini, Ali Aali [1 ]
Tootoonchi, Alireza Akbarzadeh [1 ]
机构：
[1] Ferdowsi Univ Mashhad, Dept Mech Engn, Dept Elect Engn, Mashhad, Razavi Khorasan, Iran
来源：
26TH IRANIAN CONFERENCE ON ELECTRICAL ENGINEERING (ICEE 2018) | 2018年
关键词：
SCARA Robot; Direct Dynamic; NARX Neural Network; System Identification; NARX;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
One of the most useful robots in industrial is SCARA robot. Knowing dynamic of this robot is important for understating behavior of robot and designing a controller. A good way to model dynamic of robot is system identification based on data. In this paper, nonlinear Autoregressive exogenous input (NARX) neural network has been used for modeling and identification the direct dynamic of Ferdowsi university of Mashhad (FUM) SCARA robot. Results show that the proposed method work.
引用
收藏
页码：994 / 999
页数：6
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