DocumentCode
490045
Title
Improved Tracking Control for Robots Using Neural Networks
Author
Feng, Gang
Author_Institution
Dept. of Systems and Control, School of Electrical Engineering, University of New South Wales, Kensington, NSW 2033, Australia
fYear
1993
fDate
2-4 June 1993
Firstpage
69
Lastpage
73
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1993
Conference_Location
San Francisco, CA, USA
Print_ISBN
0-7803-0860-3
Type
conf
Filename
4792808
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