Title :
NARMA-L2 controller for 2-DoF underactuated planar manipulator
Author :
Akbarimajd, Adel ; Kia, Solamz
Author_Institution :
ECE Group, Univ. of Mohaghegh Ardabili, Ardabil, Iran
Abstract :
NARMA-L2 controller is designed for a 2R planar underactuated robot. To this end, in system identification stage, after appropriate selection of system output, the network is trained in order to approximate dynamics of the manipulator. Then control law is determined to make the system output follow the reference input. Tracking test and disturbance tests are performed by doing Simulations in SimMechanics. The results show that the controller stabilizes the system.
Keywords :
manipulator dynamics; 2-DoF underactuated planar manipulator; 2R planar underactuated robot; NARMA-L2 controller; SimMechanics; control law; manipulator dynamics; reference input; system identification stage; Artificial neural networks; Control systems; Friction; Joints; Manipulator dynamics; NARMA-L2 controller; Neural networks; System Identification; Underactuated manipulators Introduction;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
DOI :
10.1109/ICARCV.2010.5707431
