Title :
A proposed adaptive neural controller and direct controllers for robot manipulators
Author :
Martins, Nardénio A. ; de Alencar, Maycol
Author_Institution :
Dept. de Informatica, Univ. Estadual de Maringa, Brazil
Abstract :
Direct control techniques for robot manipulators in joint space coordinates is provided. Comparison between a proposed adaptive neural controller and direct control techniques (computed-torque and passivity-based controllers) are simulated for the same trajectory, considering the presence of the friction torques. Performances are evaluated according to the behaviour of errors of position tracking, absolute position error, and to trajectory tracking accuracy.
Keywords :
adaptive control; friction; manipulator dynamics; neurocontrollers; position control; torque; adaptive neural controller; computed-torque; direct controllers; friction torques; joint space coordinates; passivity-based controllers; robot manipulators; trajectory tracking; Adaptive control; Computational modeling; Friction; Manipulators; Orbital robotics; Performance evaluation; Programmable control; Robot control; Robot kinematics; Torque control;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7866-0
DOI :
10.1109/CIRA.2003.1222163
