Title :
Neural network controller for cooperating robots
Author_Institution :
Robotic Res. Lab., Erciyes Univ., Kayseri, Turkey
fDate :
10/25/2001 12:00:00 AM
Abstract :
A co-ordinated position/force control system for two robot arms using neurocontrollers is proposed. The robots had to carry a load along a prescribed trajectory. Each robot is a SCARA arm with two driven joints. Simulation results demonstrate the performance of the proposed neurocontrol approach
Keywords :
dexterous manipulators; force control; industrial manipulators; neurocontrollers; path planning; position control; SCARA arm; co-ordinated position/force control system; cooperating robots; driven joints; end effector; force control system; neural network controller; neural-position controller; neurocontrollers; position control system; prescribed trajectory; recurrent hybrid neural networks; robot arms; second-order linear position reference model; simulation results;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:20010924
