DocumentCode
82556
Title
Compact bionic handling arm control using neural networks
Author
Melingui, A. ; Merzouki, Rochdi ; Mbede, J.B.
Author_Institution
LAGIS, Ecole Polytech. de Lille, Lille, France
Volume
50
Issue
14
fYear
2014
fDate
July 3 2014
Firstpage
979
Lastpage
981
Abstract
The tip position control of a class of continuum manipulators namely the compact bionic handling arm (CBHA) is proposed. The control scheme includes two sub-controllers. The first sub-controller, based on the distal supervised learning scheme, deals with the stationary CBHA´s behaviours; whereas the second based on adaptive control handles non-stationary behaviours. The experimental results obtained using the CBHA robot demonstrate the efficiency of the proposed approach.
Keywords
adaptive control; learning (artificial intelligence); manipulator dynamics; neurocontrollers; position control; CBHA robot; adaptive control; compact bionic handling arm control; continuum manipulators; distal supervised learning scheme; neural networks; subcontrollers; tip position control;
fLanguage
English
Journal_Title
Electronics Letters
Publisher
iet
ISSN
0013-5194
Type
jour
DOI
10.1049/el.2014.1136
Filename
6849569
Link To Document