Title :
Performance of two neuro controllers for robot path planning control
Author :
Amin, Shamsudin H M ; Ahtiwash, Otman Musa
Author_Institution :
Fac. of Electr. Eng., Univ. Teknologi Malaysia, Johor, Malaysia
Abstract :
In this paper, two neuro-controllers utilizing the backpropagation algorithm are investigated for robot path tracking performance: inverse neuro-controller and neuro-emulator neuro-controller schemes. For a given task of moving a robot from a rest position to a final specified position in a minimum-time, the resulting position and velocity profiles for the investigated neuro-control models showed that, the manipulator could be moved smoothly and accurately. The tracking performance and accuracy are investigated and compared
Keywords :
backpropagation; manipulators; neurocontrollers; path planning; backpropagation algorithm; inverse neuro-controller; manipulator; neuro controllers; neuro-emulator neuro-controller; position profile; robot path planning control; tracking performance; velocity profile; Acceleration; Control systems; Manipulators; Neural networks; Nonlinear dynamical systems; Path planning; Robot control; Robot kinematics; Torque control; Trajectory;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.570754
