DocumentCode
2490479
Title
Intelligent control of robotic elbow joint based on RBF neural network
Author
Junsong, Wang ; Shengli, Lu ; Chao, Xie
Author_Institution
Dept. of Autom., Tianjin Univ. of Technol. & Educ., Tianjin
fYear
2008
fDate
25-27 June 2008
Firstpage
4859
Lastpage
4863
Abstract
This paper proposed a robotic elbow joint intelligent control method based on radial basis function neural network (RBF_NN), which is capable of tracking the desired trajectory with high accuracy. Dynamics of robotic joint and design of the RBF-NN-based controller is formulated. A lot of simulations are conducted, and the simulation results have shown that the control strategy is feasible and efficient.
Keywords
couplings; neurocontrollers; radial basis function networks; robot dynamics; RBF neural network; intelligent control; radial basis function neural network; robotic elbow joint; robotic joint dynamics; Automatic control; Elbow; Intelligent control; Intelligent robots; Manipulator dynamics; Neural networks; Robot control; Robotics and automation; Shoulder; Torque control; Intelligent control; Redial basis function; Robotic elbow joint;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location
Chongqing
Print_ISBN
978-1-4244-2113-8
Electronic_ISBN
978-1-4244-2114-5
Type
conf
DOI
10.1109/WCICA.2008.4593711
Filename
4593711
Link To Document