DocumentCode
2429872
Title
NARMA-L2 controller for 2-DoF underactuated planar manipulator
Author
Akbarimajd, Adel ; Kia, Solamz
Author_Institution
ECE Group, Univ. of Mohaghegh Ardabili, Ardabil, Iran
fYear
2010
fDate
7-10 Dec. 2010
Firstpage
195
Lastpage
200
Abstract
NARMA-L2 controller is designed for a 2R planar underactuated robot. To this end, in system identification stage, after appropriate selection of system output, the network is trained in order to approximate dynamics of the manipulator. Then control law is determined to make the system output follow the reference input. Tracking test and disturbance tests are performed by doing Simulations in SimMechanics. The results show that the controller stabilizes the system.
Keywords
manipulator dynamics; 2-DoF underactuated planar manipulator; 2R planar underactuated robot; NARMA-L2 controller; SimMechanics; control law; manipulator dynamics; reference input; system identification stage; Artificial neural networks; Control systems; Friction; Joints; Manipulator dynamics; NARMA-L2 controller; Neural networks; System Identification; Underactuated manipulators Introduction;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-7814-9
Type
conf
DOI
10.1109/ICARCV.2010.5707431
Filename
5707431
Link To Document