• DocumentCode
    3696269
  • Title

    A PID Controller with ANN Feedforward Design for Two-Links Flexible Manipulator

  • Author

    Xiaoguang Li;Pingping Xiao;Shuchen Yang

  • Author_Institution
    Sch. of Electr. &
  • Volume
    2
  • fYear
    2015
  • Firstpage
    385
  • Lastpage
    388
  • Abstract
    The elastic vibrations of two-link manipulators are decoupled from the flexible manipulator. A PID controller with ANN feed forward control is established for vertical planar two-links flexible manipulators. The asymptotically stability of joint trajectory tracking control are proved. The simulation results show that, the elastic vibrations of two links manipulator are restrained when the tip trajectory of manipulator is being traced with this method.
  • Keywords
    "Vibrations","Manipulator dynamics","Feedforward neural networks","Artificial neural networks","Joints","Force"
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2015 7th International Conference on
  • Print_ISBN
    978-1-4799-8645-3
  • Type

    conf

  • DOI
    10.1109/IHMSC.2015.232
  • Filename
    7334994
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3696269