Title :
Dynamic control of a parallel link manipulator using CMAC neural network
Author :
Geng, Zheng ; Haynes, Leonard S.
Author_Institution :
Intelligent Autom. Inc., Rockville, MD, USA
Abstract :
A multiple neural network structure called cascaded CMAC (Cerebella Model Arithmetic Computer) is proposed for solving the problem of dynamic control of a parallel-link manipulator. The cascaded CMAC networks can provide faster learning capability and the ability to capture both general trends and fine details of an unknown nonlinear mapping. Simulation results are given
Keywords :
computerised control; dynamics; learning systems; neural nets; robots; CMAC neural network; Cerebella Model Arithmetic Computer; cascaded CMAC networks; dynamic control; learning capability; multiple neural network structure; nonlinear mapping; parallel link manipulator; Adaptive control; Automatic control; Computational modeling; Control systems; Hydraulic actuators; Intelligent networks; Leg; Manipulator dynamics; Neural networks; Torque control;
Conference_Titel :
Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-0106-4
DOI :
10.1109/ISIC.1991.187393
