Title :
A neural network-based controller for a two-link robot
Author :
Jamshidi, Mo ; Horne, Bill ; Vadiee, Nader
Author_Institution :
Dept. of Electr. & Comput. Eng., New Mexico Univ., Albuquerque, NM, USA
Abstract :
A case of a multilayer perceptron (MLP) used for position control of a two-link robot is reported. Simulation results as well as the computational burden on neurocontrollers designed for robot control are presented. Such issues as the number of layers and number of nodes per layer are discussed. It is concluded that a neural network can be used to approximate a dynamical model of a robot. However, the error associated with this model is not nearly as good as that of conventional controllers, specifically a computed torque controller
Keywords :
neural nets; position control; robots; torque control; dynamical model; multilayer perceptron; neural network; neurocontrollers; position control; robot; torque controller; Acceleration; Computational modeling; Computer networks; Laboratories; Manipulator dynamics; Multilayer perceptrons; Neural networks; Position control; Robot control; Torque control;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203395
