지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2009.5
- 수록면
- 257 - 261 (5page)
이용수
초록· 키워드
오류제보하기
This paper presents two kinds of adaptive control schemes for robot manipulator which has the parametric uncertainties.
In order to compensate these uncertainties, we use the neural network (NN) system that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of neural of network, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The validity of the control scheme is shown by computer simulations and experiment of dual-arm robot manipulator.
In order to compensate these uncertainties, we use the neural network (NN) system that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of neural of network, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The validity of the control scheme is shown by computer simulations and experiment of dual-arm robot manipulator.
목차
Abstract
1. INTRODUCTION
2. ADAPTIVE CONTROL USING NEURAL NETWORK COMPENSATOR
3. NEURAL REDUCTION ALGORITHM
4. SIMULATION AND EXPERIMENT
5. CONCLUSIONS
REFERENCES
참고문헌 (0)
참고문헌 신청함께 읽어보면 좋을 논문
논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!
-
Real-Time Adaptive Control of Robot Manipulator Based on Neural Network Compensator
제어로봇시스템학회 국제학술대회 논문집
2008 .10
-
Real-Time Adaptive Control of Robot Manipulator Based on Neural Network Compensator
제어로봇시스템학회 국제학술대회 논문집
2009 .08
-
A Robust Neural Network Control of Robot Manipulator for Industrial Application
제어로봇시스템학회 국제학술대회 논문집
2010 .10
-
A Robust Control of Robot Arm Based on Neural Network Compensation
한국생산제조학회 학술발표대회 논문집
2010 .10
-
A Robust Servo Control of Robot Arm
한국생산제조학회 학술발표대회 논문집
2011 .10
-
Adaptive Neural Network Control for Robot Manipulators
KIEE International Transactions on systems and Control
2002 .03
-
A Study on Robust Control of Articulated Robot Arm with Seven Joints
제어로봇시스템학회 국제학술대회 논문집
2015 .10
-
An Adaptive Neural Network Control Method for Robot Manipulators
대한전기학회 학술대회 논문집
2001 .07
-
Adaptive Control of Robot Arm Based on Neural Network Compensator
한국생산제조학회 학술발표대회 논문집
2013 .04
-
Adaptive Control of Robot Arm Based on Neural Network Compensator
제어로봇시스템학회 국내학술대회 논문집
2013 .05
-
Adaptive Control of Industrial Robot Based on Neural Network Compensator
한국생산제조학회 학술발표대회 논문집
2013 .10
-
A Study on Precise Control of Industrial Robot Arm for Manufacturing Process Automation
제어로봇시스템학회 국제학술대회 논문집
2014 .10
-
Adaptive Neural Network Control of Robots
ICONIP : International Conference On Neural Information Processing
1994 .01
-
On-Line Neural Network Control of Robot Manipulators
ICONIP : International Conference On Neural Information Processing
1994 .01
-
Robust control of electrically driven robots using difference equations as universal approximator
제어로봇시스템학회 국제학술대회 논문집
2018 .10
-
A Robust Control with a Neural Network Structure for Uncertain Robot Manipulator
Journal of Mechanical Science and Technology
2004 .11
-
An Adaptive Neural-Network Compensator for Control Systems with Application to Robot Manipulator
Journal of Electrical Engineering and information Science
2000 .04
-
A Study on an Adaptive Robust Fuzzy Controller with GAs for Path Tracking of a Wheeled Mobile Robot
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2010 .03
-
A Neural Network Architecture for Dynamic Control Robot Manipulators
제어로봇시스템학회 국내학술대회 논문집
1989 .10
-
A Neural Network Architecture for Dynamic Control of Robot Manipulators
대한전자공학회 학술대회
1989 .01
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2009-552-018359528