• română
    • English
    • français
    • Deutsch
    • español
    • italiano
  • español 
    • română
    • English
    • français
    • Deutsch
    • español
    • italiano
  • Login
Ver ítem 
  •   DSpace Principal
  • Scientific papers - Annals of "Dunarea de Jos" University of Galati - Analele științifice ale Universității "Dunărea de Jos" din Galați
  • Annals of the University "Dunarea de Jos" of Galati. Fascicle III: Electrotechnics, Electronics, Automation Control and Informatics
  • Ver ítem
  •   DSpace Principal
  • Scientific papers - Annals of "Dunarea de Jos" University of Galati - Analele științifice ale Universității "Dunărea de Jos" din Galați
  • Annals of the University "Dunarea de Jos" of Galati. Fascicle III: Electrotechnics, Electronics, Automation Control and Informatics
  • Ver ítem
JavaScript is disabled for your browser. Some features of this site may not work without it.

Neural Network Schemes in Cartesian Space Control of Robot Manipulators

Thumbnail
Ver/
ugal_f3_2001_nr6_Boutalis_Moise.pdf (65.79Kb)
Fecha
2001
Autor
Boutalis, Yiannis S.
Moise, Adrian
Mertzios, B. G.
Metadatos
Mostrar el registro completo del ítem
Resumen
In this paper we are studying the Cartesian space robot manipulator control problem by using Neural Networks (NN). Although NN compensation for model uncertainties has been traditionally carried out by modifying the joint torque/force of the robot, it is also possible to achieve the same objective by using the NN to modify other quantities of the controller. We present and evaluate four different NN controller designs to achieve disturbance rejection for an uncertain system. The design perspectives are dependent on the compensated position by NN. There are four quantities that can be compensated: torque t , force F, control input U and the input trajectory Xd. By defining a unified training signal all NN control schemes have the same goal of minimizing the same objective functions. We compare the four schemes in respect to their control performance and the efficiency of the NN designs, which is demonstrated via simulations.
URI
http://10.11.10.50/xmlui/handle/123456789/3719
Colecciones
  • Annals of the University "Dunarea de Jos" of Galati. Fascicle III: Electrotechnics, Electronics, Automation Control and Informatics [230]

DSpace 6.0 | Copyright © Arthra Institutional Repository
Contacto | Sugerencias
Theme by 
Atmire NV
 

 

Listar

Todo DSpaceComunidades & ColeccionesPor fecha de publicaciónAutoresTítulosMateriasEsta colecciónPor fecha de publicaciónAutoresTítulosMaterias

Mi cuenta

Acceder

DSpace 6.0 | Copyright © Arthra Institutional Repository
Contacto | Sugerencias
Theme by 
Atmire NV