Modular adaptive neurocontrol of robotic manipulators

Author

Alsina, P.J. ; Gehlot, N.S.

Author_Institution

Departamento de Fis., Universidade Estadual da Paraiba, Campina Grande, Brazil

Volume

2

fYear

1995

fDate

6-10 Nov 1995

Firstpage

1342

Abstract

In this paper a modular neuroadaptive controller for robotic manipulators is proposed. First, a modular model-based adaptive scheme and a modular neurocontroller based on the Newton-Euler formulation are presented. The adaptation technique is then utilized for the on-line direct adaptive training of the modular neurocontroller. Both the controller and the training scheme are arranged in a modular form, resulting in the proposed modular neuroadaptive controller, which can be applied to any N-link serial manipulator. Simulation results of the proposed controllers for a 3 DOF manipulator are presented

Keywords

learning (artificial intelligence); manipulators; model reference adaptive control systems; neurocontrollers; 3 DOF manipulator; N-link serial manipulator; Newton-Euler formulation; model-based adaptive scheme; modular adaptive neurocontrol; robotic manipulators; training scheme; Adaptive control; Differential equations; Kinematics; Manipulator dynamics; Neural networks; Neurocontrollers; Programmable control; Robot control; Sliding mode control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1995., Proceedings of the 1995 IEEE IECON 21st International Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-3026-9

Type

conf

DOI

10.1109/IECON.1995.483991

Filename

483991