Control of the 2-DOF Underactuated Manipulators Based on Neural Network

Author

Lin, Zhuang ; Zhu, Qidan ; Xing, Zhuoyi

Author_Institution

Coll. of Autom., Harbin Eng. Univ.

Volume

1

fYear

0

fDate

0-0 0

Firstpage

2882

Lastpage

2885

Abstract

The control problem of the underactuated manipulators system is one of the major topics in control theory and robotic engineering. In this paper, we apply the neural network method to analyze the 2-DOF joint manipulators and show the underactuated joint can be stabilized at the equilibrium point through the periodic disturbance of the actuated joint. And then, we design an open loop control strategy based on above results using neural network and use it to achieve the nonholonomic manipulator position control. We show the effectiveness of the neural network method and verify it by some simulation results

Keywords

manipulator kinematics; neurocontrollers; open loop systems; periodic control; position control; stability; actuated joint; control theory; joint manipulators; neural network; nonholonomic manipulator; open loop control; periodic disturbance; position control; robotic engineering; underactuated joint stabilization; underactuated manipulator system; Actuators; Automatic control; Control systems; Costs; Manipulator dynamics; Neural networks; Open loop systems; Orbital robotics; Robotics and automation; Robots; neural network; robot; underactuated joint;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1712892

Filename

1712892