DocumentCode
2919071
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
fYear
1991
fDate
13-15 Aug 1991
Firstpage
411
Lastpage
416
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on
Conference_Location
Arlington, VA
ISSN
2158-9860
Print_ISBN
0-7803-0106-4
Type
conf
DOI
10.1109/ISIC.1991.187393
Filename
187393
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