Title :
A neural network approach for robust dynamical control of robot manipulators
Author :
Tunali, E. Turhan
Author_Institution :
Sch. of Appl. Sci., Nanyang Technol. Univ., Singapore
Abstract :
A new algorithm for adaptive dynamical control of robot manipulators is proposed. It utilizes a reduced order parameterization together with a computed torque control policy. The teaching signal correlates the total torque with the feedback error. The algorithm was simulated for a three revolute joint robot and various factors such as noisy joint velocity measurements, weaker control, persistency of excitation and choice of learning constants are examined. Implementation issues for parallel processing are discussed
Keywords :
adaptive control; manipulator dynamics; neurocontrollers; robust control; torque control; adaptive dynamical control; feedback error; learning constants; neural network approach; noisy joint velocity measurements; parallel processing; reduced order parameterization; robot manipulators; robust dynamical control; three revolute joint robot; torque control policy; total torque; Adaptive control; Education; Heuristic algorithms; Manipulator dynamics; Neural networks; Neurofeedback; Programmable control; Robot control; Robust control; Torque control;
Conference_Titel :
Circuits and Systems, 1993., ISCAS '93, 1993 IEEE International Symposium on
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-1281-3
DOI :
10.1109/ISCAS.1993.394260
