Title :
Intelligent control of robotic elbow joint based on RBF neural network
Author :
Junsong, Wang ; Shengli, Lu ; Chao, Xie
Author_Institution :
Dept. of Autom., Tianjin Univ. of Technol. & Educ., Tianjin
Abstract :
This paper proposed a robotic elbow joint intelligent control method based on radial basis function neural network (RBF_NN), which is capable of tracking the desired trajectory with high accuracy. Dynamics of robotic joint and design of the RBF-NN-based controller is formulated. A lot of simulations are conducted, and the simulation results have shown that the control strategy is feasible and efficient.
Keywords :
couplings; neurocontrollers; radial basis function networks; robot dynamics; RBF neural network; intelligent control; radial basis function neural network; robotic elbow joint; robotic joint dynamics; Automatic control; Elbow; Intelligent control; Intelligent robots; Manipulator dynamics; Neural networks; Robot control; Robotics and automation; Shoulder; Torque control; Intelligent control; Redial basis function; Robotic elbow joint;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4593711
