Title :
A simple alternative to neural network control scheme for robot manipulators
Author :
Hsia, T.C. ; Jung, Seul
Author_Institution :
Dept. of Electr. & Comput. Eng., California Univ., Davis, CA, USA
fDate :
8/1/1995 12:00:00 AM
Abstract :
Recent research results have shown that neural network techniques are effective in compensating highly nonlinear uncertainties in the robot model where computed torque method is used for robot motion control. One excellent work was reported by Ishiguro et. al. (1992). The purpose of this note is to present a simple alternate solution to the same control problem which does not require the use of a neural network. The solution is based on the disturbance rejection technique developed by Hsia (1989-92). Computer simulations show that the alternate control method works better
Keywords :
control system analysis computing; control system synthesis; digital simulation; manipulators; motion control; nonlinear control systems; uncertain systems; computed torque method; computer simulation; control design; disturbance rejection technique; nonlinear uncertainties; robot manipulators; robot motion control; Computer networks; Computer simulation; Manipulators; Motion control; Neural networks; Robot control; Robust control; Signal generators; Torque control; Uncertainty;
Journal_Title :
Industrial Electronics, IEEE Transactions on