Control of Flexible Joint Manipulator, Using Neural Network with Animation via MATLAB and VRML

سال انتشار: 1388
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 3,035

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شناسه ملی سند علمی:

ISCEE12_175

تاریخ نمایه سازی: 29 اسفند 1387

چکیده مقاله:

This paper presents trajectory tracking control of manipulators with joint flexibility based on eural etworks. In detail, the control system is designed with two parallel subsystems designed separately. One is a linear controller, and another one is neural network controller. The former is designed for trajectory tracking error regulation, the later for torque generation required by the designed dynamic trajectory. A learning law for online weight updating of the neural network controller is derived based on simplified dynamic model of the robot. The eural net controller does not rely on accurate a priori knowledge of the manipulator dynamics, but instead can learn these dynamics Simulations and experiments are carried out on single link and two link flexible joint robot and the result of Feedback linearization Control and eural etwork Control was investigated. From the simulation and experimental results, the effectiveness and usefulness of this control system are confirmed. A virtual reality model for a teleoperation control is also presented for remote control of robot manipulators

نویسندگان

S.S. Tayarani-Bathaie

Amirkabir University of Technology/Department of Electrical Engineering, Tehran, Iran

H.A Talebi

Amirkabir University of Technology/Department of Electrical Engineering, Tehran, Iran

S.N ayarani-Bathaie

Amirkabir University of Technology/Department of Computer Engineering, Tehran, Iran

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