Robot inverse dynamics control with feedback and compensation based on neural network

被引：0
|
作者：
Tan, YM [1 ]
Mao, ZY [1 ]
机构：
[1] S China Univ Technol, Dept Automat, Guangzhou 510641, Peoples R China
来源：
1997 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT PROCESSING SYSTEMS, VOLS 1 & 2 | 1997年
关键词：
robot; inverse dynamics; neural network; identification;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper deals with an inverse dynamic control method for the robot. The scheme is based on the neural network and so can be applied even without the knowledge of the robot model. With the feedback and compensation, the robot presents rather good characters in tracking precision and anti-interference performance. Furthermore, the neural network learning times are drastic reduced without affect the control precision. The different computer simulation results which all used PUMA560 robot as example are compared and analyzed.
引用
收藏
页码：1297 / 1301
页数：5
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