Title :
Improved Tracking Control for Robots Using Neural Networks
Author_Institution :
Dept. of Systems and Control, School of Electrical Engineering, University of New South Wales, Kensington, NSW 2033, Australia
Abstract :
The tracking control of robots in joint space is studied in this paper. A new control algorithm is proposed based on the well known computed torque method and a feedforward compensating controller. The function of the feedforward controller, which is realized using an RBF neural network, is to provide high tracking accuracy of robot path following performance. It is demonstrated through simulations that the proposed scheme could achieve much better tracking performance.
Keywords :
Adaptive control; Control system synthesis; Control systems; Equations; Neural networks; Orbital robotics; Performance gain; Robot control; Robot kinematics; Torque control;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
