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
收藏
页码：195 / 202
页数：8
相关论文
共 50 条
  • [21] Neural network approach to trajectory synthesis for robotic manipulators
    A. Pashkevich
    M. Kazheunikau
    [J]. Journal of Intelligent Manufacturing, 2005, 16 : 173 - 187
  • [22] Trajectory tracking control of robotic manipulators using feedback linearization techniques
    Ngoo, MJ
    Poo, AN
    Chen, PCY
    [J]. International Conference on Computing, Communications and Control Technologies, Vol 4, Proceedings, 2004, : 389 - 394
  • [23] Trajectory Tracking of Robotic Manipulators Using Optimal Sliding mode control
    Boukadida, Wafa
    Bkekri, Rihab
    Benamor, Anouar
    Messaoud, Hassani
    [J]. 2017 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND DIAGNOSIS (ICCAD), 2017, : 545 - 550
  • [24] Neural network approach to trajectory synthesis for robotic manipulators
    Pashkevich, A
    Kazheunikau, M
    [J]. JOURNAL OF INTELLIGENT MANUFACTURING, 2005, 16 (02) : 173 - 187
  • [25] A framework of neural networks based consensus control for multiple robotic manipulators
    Zhao, Dongya
    Ni, Wei
    Zhu, Quanmin
    [J]. NEUROCOMPUTING, 2014, 140 : 8 - 18
  • [26] Modeling and Control of Robotic Manipulators Based on Artificial Neural Networks: A Review
    Liu, Zhaobing
    Peng, Kerui
    Han, Lvpeng
    Guan, Shengchuang
    [J]. IRANIAN JOURNAL OF SCIENCE AND TECHNOLOGY-TRANSACTIONS OF MECHANICAL ENGINEERING, 2023, 47 (04) : 1307 - 1347
  • [27] Modeling and Control of Robotic Manipulators Based on Artificial Neural Networks: A Review
    Zhaobing Liu
    Kerui Peng
    Lvpeng Han
    Shengchuang Guan
    [J]. Iranian Journal of Science and Technology, Transactions of Mechanical Engineering, 2023, 47 : 1307 - 1347
  • [28] IDENTIFICATION AND DECENTRALIZED ADAPTIVE-CONTROL USING DYNAMICAL NEURAL NETWORKS WITH APPLICATION TO ROBOTIC MANIPULATORS
    KARAKASOGLU, A
    SUDHARSANAN, SI
    SUNDARESHAN, MK
    [J]. IEEE TRANSACTIONS ON NEURAL NETWORKS, 1993, 4 (06): : 919 - 930
  • [29] Application of neural generalized predictive control to robotic manipulators with a cubic trajectory and random disturbances
    Temurtas, F
    Temurtas, H
    Yumusak, N
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2006, 54 (01) : 74 - 83
  • [30] Robust neural control for robotic manipulators
    Barambones, O
    Etxebarria, V
    [J]. AUTOMATICA, 2002, 38 (02) : 235 - 242
12345