شماره ركورد كنفرانس :
3926
عنوان مقاله :
Experimental Evaluation of a Saturated Output Feedback Controller Using RBF Neural Networks for SCARA Robot IBM 7547
پديدآورندگان :
Pourrahim Mohammad pde.mohammad@gmail.com Department of Electrical Engineering Najafabad Branch, Islamic Azad University Najafabad, Iran , Shojaei Khoshnam khoshnam.shojaee@gmail.com Department of Electrical Engineering Najafabad Branch, Islamic Azad University Najafabad, Iran , Chatraei Abbas abbas.chatraei@gmail.com Department of Electrical Engineering Najafabad Branch, Islamic Azad University Najafabad, Iran , Shah Nazari Omid dep.omid@gmail.com Department of Electrical Engineering Najafabad Branch, Islamic Azad University Najafabad, Iran
كليدواژه :
Output feedback controller , RBF Neural Networks , SCARA robot , Generalized saturation , robot manipulator
عنوان كنفرانس :
بيست و چهارمين كنفرانس مهندسي برق ايران
چكيده فارسي :
In this paper, an extension of the passivity-based output feedback trajectory tracking controller is addressed and implemented on a SCARA robot IBM 7547 by using generalized saturation. Compared with the output feedback controllers, a radial basis function saturated observer-based controller has been introduced. The controller will reduce the risk of actuator saturation effectively via generalized saturation functions. Implementation results are provided to illustrate the efficiency of the proposed controller in dealing with the actuator saturation.
