Title :
Adaptive ANN control of robot arm using structure of Lagrange equation
Author :
Yamakita, Masaki ; Satoh, Takashi
Author_Institution :
Dept. of Control Eng., Tokyo Inst. of Technol., Japan
Abstract :
Several adaptive control algorithms for robot manipulators using artificial neural network (ANN) are considered and an algorithm using physical structure of robot manipulators is proposed. However, the structure of ANN should be modified according to the change of the degree of freedom of the system. In this paper, we propose the algorithm in which the structure of ANN is independent of the degree of freedom and compare it to some other algorithms by simulation and experiment
Keywords :
adaptive control; manipulator dynamics; neurocontrollers; radial basis function networks; Lagrange equation; adaptive control; dynamics; manipulators; neurocontrol; radial basis function neural network; robot arm; Adaptive control; Artificial neural networks; Control systems; Equations; Lagrangian functions; Manipulator dynamics; Neural networks; Programmable control; Robot control; Systems engineering and theory;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786589
