Title :
Using wavelet network for identifying the model of robot manipulator
Author :
Sun, Wei ; Wang, Yaonan ; Mao, Jianxu
Author_Institution :
Dept. of Electr. Eng., Hunan Univ., Changsha City, China
Abstract :
Wavelet networks are a class of neural networks consisting of wavelets. In this paper, wavelet network is used for estimating model of robot manipulator. An algorithm is introduced for constructing wavelet network, and BP algorithm is used for training wavelet network. An example on two-joint robot manipulator identification is presented for illustration.
Keywords :
backpropagation; identification; manipulators; neural nets; wavelet transforms; BP algorithm; backpropagation; neural networks; robot manipulator model identification; two-joint robot manipulator identification; wavelet network; Cities and towns; Continuous wavelet transforms; Discrete wavelet transforms; Manipulators; Neural networks; Robots; Signal processing algorithms; Sun; Wavelet analysis; Wavelet transforms;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020865
