Title :
On aspects of a neural controller for a two link manipulator
Author :
Banavar, Ravi N. ; Luhadiya, Ravi ; Kench, Atul
Author_Institution :
Dept. of Syst. & Control Eng., Indian Inst. of Technol., Bombay, India
Abstract :
The kinematic and dynamic relationships of a manipulator are highly non-linear. The inverse problem is computationally intensive. In this light, the learning capabilities and parallel computational architecture of neural networks seem an attractive alternative to current methods of control. A few aspects of this issue are examined
Keywords :
manipulator dynamics; manipulator kinematics; neurocontrollers; inverse problem; learning capabilities; neural controller; parallel computational architecture; two link manipulator; Acceleration; Actuators; Artificial neural networks; Computer architecture; Electric variables control; Feedback; Inverse problems; Kinematics; Manipulator dynamics; Robot control;
Conference_Titel :
Industrial Automation and Control, 1995 (I A & C'95), IEEE/IAS International Conference on (Cat. No.95TH8005)
Conference_Location :
Hyderabad
Print_ISBN :
0-7803-2081-6
DOI :
10.1109/IACC.1995.465838
