TRAJECTORY CONTROL OF ROBOTIC MANIPULATORS USING NEURAL NETWORKS

被引：104

作者：

OZAKI, T

SUZUKI, T

FURUHASHI, T

OKUMA, S

UCHIKAWA, Y

机构：

[1] Department of Electronic Mechanical Engineering, School of Engineering, Nagoya University, Nagoya

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 1991年 / 38卷 / 03期

关键词：

D O I：

10.1109/41.87587

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a nonlinear compensator using neural networks for trajectory control of robotic manipulators. The adaptive capability of the neural network controller to compensate unstructured uncertainties is clarified. A model learning scheme is also proposed in this paper. The learning procedure is effective and efficient in learning the manipulator dynamics, and error convergence with untrained trajectories is fast.

引用

页码：195 / 202

页数：8

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