DocumentCode
389748
Title
On neural control of a manipulator with output feedback
Author
Wróblewski, Waldemar
Author_Institution
Inst. of Control & Syst. Eng., Poznan Tech. Univ., Poland
fYear
2002
fDate
9-11 Nov. 2002
Firstpage
57
Lastpage
60
Abstract
In this paper, neural network control with output feedback, developed previously is recalled. This control scheme works without direct measuring of joint velocities, but with a neural observer to estimate these velocities. Efficiency of the feedback control presented previously and the optimal feedback control presented is compared in simulations. Both controllers are implemented by using neural networks. Example results for a 2-link planar manipulator are presented.
Keywords
manipulators; neurocontrollers; 2-link planar manipulator; manipulator; neural control; neural observer; output feedback; Control systems; Feedback control; Feedforward neural networks; Manipulator dynamics; Mathematical model; Neural networks; Output feedback; Robots; Transmission line matrix methods; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN
83-7143-429-4
Type
conf
DOI
10.1109/ROMOCO.2002.1177084
Filename
1177084
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