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
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;
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
DOI :
10.1109/IROS.1993.583105
