Title :
Intelligent reconfigurable control of robot manipulators
Author :
Chung, Jae H. ; Velinsky, Steven A.
Author_Institution :
Dept. of Mech. & Aeronaut. Eng., California Univ., Davis, CA, USA
Abstract :
One approach towards improving the reliability of high-performance robotic systems is to allow for the automatic reconfiguration of the robot´s control system to accommodate actuator failure and/or damage. The new concept of the extended plant and its identification in closed loop is introduced for developing a reconfigurable robot manipulator controller. It is made possible through the use of artificial neural networks. A simulation study demonstrates the effectiveness of the developed control algorithm
Keywords :
closed loop systems; feedback; identification; intelligent control; manipulator dynamics; motion control; neurocontrollers; robust control; closed loop systems; feedback; identification; intelligent control; motion control; neural networks; neurocontrol; reconfigurable control; robot manipulators; robust control; Automatic control; Control systems; Fuzzy systems; Intelligent control; Intelligent robots; Manipulators; Neural networks; Open loop systems; Robot control; Robotics and automation;
Conference_Titel :
Neural Networks, 1999. IJCNN '99. International Joint Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-5529-6
DOI :
10.1109/IJCNN.1999.832690
