Study on Layered Intelligent Control for Mobile Manipulator Based on Neural Network

Author

Duan, Ping ; Ding, Chengjun ; Zhang, Minglu ; Cui, Genqun

Author_Institution

Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin

Volume

1

fYear

0

fDate

0-0 0

Firstpage

2705

Lastpage

2708

Abstract

Neural network has some characters, such as distributed storing information, parallel disposing data, self- organization and self-studying. In some aspect, it is near to the method of person dealing with information and has the ability of imitating image thinking of person. This paper utilizes the excellent characteristics of neural network in studying and fault-tolerant, adopting it as the intelligent controller of the layered submitting intelligent system, accordingly, solving the coupling between manipulator and mobile vehicle and compensating the torque in order to realize the coordination movements between manipulator and mobile vehicle of mobile manipulator

Keywords

compensation; fault tolerance; intelligent control; manipulators; mobile robots; motion control; neurocontrollers; torque control; coordination control; coordination movements; fault tolerance; intelligent system; layered intelligent control; mobile manipulator; mobile vehicle; neural network; nonholonomic constraints; torque compensation; Control systems; Electronic mail; Fault tolerant systems; Intelligent control; Intelligent networks; Intelligent vehicles; Manipulators; Mechanical engineering; Neural networks; Torque control; coordination control; mobile manipulator; neural network; nonholonomic constraints;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1712855

Filename

1712855