DocumentCode
1889342
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
Volume
3
fYear
2003
fDate
16-20 July 2003
Firstpage
1174
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on
Print_ISBN
0-7803-7866-0
Type
conf
DOI
10.1109/CIRA.2003.1222163
Filename
1222163
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