DocumentCode
2650745
Title
Adaptive inertia compensation using a cerebellar model algorithm
Author
Fiala, John ; Lumia, Ron
Author_Institution
Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
fYear
1991
fDate
18-21 Nov 1991
Firstpage
2259
Abstract
A method for adaptively compensating for inertia in the control of robotic manipulators is described. The method uses an adaptive network which can be related to a number of contemporary models of the cerebellum. Simulations of a three-link planar manipulator show that the algorithm compensates for inertia during a movement without a priori knowledge. The fact that motions need not be repetitive gives the algorithm significant practical value
Keywords
adaptive systems; compensation; neural nets; position control; robots; CMAC; adaptive filters; adaptive inertia compensation; cerebellar model algorithm; motion control; neural nets; robots; three-link planar manipulator; Adaptive systems; Brain modeling; Circuits; Gravity; Manipulator dynamics; NIST; Optical fiber theory; Production; Robot control; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Neural Networks, 1991. 1991 IEEE International Joint Conference on
Print_ISBN
0-7803-0227-3
Type
conf
DOI
10.1109/IJCNN.1991.170724
Filename
170724
Link To Document