DocumentCode
488608
Title
A Neural Net Controller for Flexible-Joint Manipulators
Author
Zeman, V. ; Patel, R.V. ; Khorasani, K.
Author_Institution
Department of Electrical and Computer Engineering, Concordia University, Montréal, Québec, Canada H3G 1M8
fYear
1990
fDate
23-25 May 1990
Firstpage
3025
Lastpage
3027
Abstract
A backpropagation neural network is trained off-line to model the nonlinear invers dynamics of a flexible-joint manipulator. It is then used as the model based portion of an inverse dynamics control strategy, resulting in an overall linear system. The proposed scheme assumes no knowledge of the specific plant dynamics, and therefore has the potential to be extended to arbitrary nonlinear control problems.
Keywords
Error correction; Integral equations; Manipulator dynamics; Motion control; Neural networks; Robots; Robust control; Servomechanisms; Tellurium;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1990
Conference_Location
San Diego, CA, USA
Type
conf
Filename
4791273
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