Title :
Development and neural control of a robotic manipulator with two degrees of freedom
Author :
de Vasconcelos Lima, T.L. ; de Freitas, I.S. ; de Menezes Filho, J.B. ; Sobrinho, C.A.O.N. ; Silva, J. F da
Abstract :
This paper presents the design and implementation of a two degree-of-freedom robotic manipulator using rotary joints and driven by three-phase induction motors. The robot is allowed to move over a spatial area of a quarter of a sphere. The position control is accomplished by neural network controllers and the overall control system performance is evaluated based on trajectory following response (sinusoidal reference signals) and on position response (step reference signals).
Keywords :
induction motors; manipulators; neurocontrollers; position control; neural network controllers; position control; position response; rotary joints; sinusoidal reference signals; step reference signals; three-phase induction motors; trajectory following response; two degree-of-freedom robotic manipulator; Autoregressive processes; Biological neural networks; Manipulators; Mechatronics; Neurons; Service robots; Neural network; Position control; Positioning system;
Conference_Titel :
Electrodynamics and Mechatronics (SCE III), 2011 3rd International Students Conference on
Conference_Location :
Opole
Print_ISBN :
978-1-4244-9694-5
DOI :
10.1109/SCE.2011.6092130
