Title :
Calculation of SCARA robot model using neural nets
Author :
Wildner, Cezary ; Kurek, Jerzy E.
Author_Institution :
Instytut Automatyki i Robotyki, Politcchnika Warszawska, Warszawa, Poland
Abstract :
The paper presents neural nets for the calculation of parameters of the robot model in a form of Lagrange-Euler equations. Then, a comparison of the neural models based on the numerical examples calculated for a SCARA robot is presented.
Keywords :
backpropagation; feedforward neural nets; industrial manipulators; manipulator dynamics; parameter estimation; Lagrange-Euler equations; SCARA robot; backpropagation; feedforward neural network; neural model; prismatic joint trajectory; robot dynamics; robot model; Feedforward systems; Lagrangian functions; Mathematical model; Neural networks; Neurons; Nonlinear equations; Numerical models; Robot kinematics; Robotics and automation; Service robots;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177145
