• DocumentCode
    3615199
  • Title

    Trajectory following control of robotic manipulators using neural networks

  • Author

    M.K. Ciliz;C. Isik

  • Author_Institution
    Dept. of Electr. & Comput. Eng., Syracuse Univ., NY, USA
  • fYear
    1990
  • fDate
    6/12/1905 12:00:00 AM
  • Firstpage
    536
  • Abstract
    A novel learning control architecture utilizing nonlinear computational properties of neural networks is presented. The nonlinear dynamics of the manipulator is assumed to be unknown, and the control scheme efficiently learns the required feedforward torques for a specified trajectory after a repeated number of trials. Simulation tests give promising results for real-time implementation of the algorithm.
  • Keywords
    "Robot control","Neural networks","Manipulator dynamics","Equations","Torque control","Trajectory","Computer networks","Adaptive control","Parametric statistics","Neurofeedback"
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Control, 1990. Proceedings., 5th IEEE International Symposium on
  • ISSN
    2158-9860
  • Print_ISBN
    0-8186-2108-7
  • Type

    conf

  • DOI
    10.1109/ISIC.1990.128509
  • Filename
    128509
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3615199