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

fYear

2011

fDate

6-8 Oct. 2011

Firstpage

89

Lastpage

94

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrodynamics and Mechatronics (SCE III), 2011 3rd International Students Conference on

Conference_Location

Opole

Print_ISBN

978-1-4244-9694-5

Type

conf

DOI

10.1109/SCE.2011.6092130

Filename

6092130