DocumentCode
3441955
Title
Trajectory control of n-link robot manipulator based on modular neurocontroller
Author
Alsina, Pablo J. ; Gehlot, Xarpat S.
Author_Institution
Dept. de Engenharia Eletrica, Univ. Federal da Paraiba, Brazil
Volume
1
fYear
1993
fDate
26-30 Jul 1993
Firstpage
245
Abstract
In this paper, a modular neurocontroller for an arbitrary N-DOF (degree of freedom) manipulator is proposed. The recursive nature of the Newton-Euler formulation is used as a base for the modular neurocontroller. The neural modules can be trained by the direct inverse or indirect adaptive control schemes. Computer simulation results for a 2-DOF SCARA manipulator are given. Due to its modular structure, this neurocontroller can be applied to a manipulator with arbitrary degrees of freedom such as distributed or cellular robotic systems
Keywords
manipulators; Newton-Euler formulation; direct inverse control; indirect adaptive control; modular neurocontroller; n-link robot manipulator; trajectory control; Computer simulation; Manipulator dynamics; Neural networks; Neurocontrollers; Parallel processing; Parameter estimation; Programmable control; Robot control; Robustness; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location
Yokohama
Print_ISBN
0-7803-0823-9
Type
conf
DOI
10.1109/IROS.1993.583105
Filename
583105
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