An approach to adaptive neural control of robot manipulators

被引:7
作者
Etxebarria, V [1 ]
delaSen, M [1 ]
机构
[1] UNIV BASQUE COUNTRY, FAC CIENCIAS, INST INVEST & DESARROLLO PROC, E-48080 BILBAO, SPAIN
关键词
D O I
10.1080/00207729608929321
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
An adaptive neural control scheme for mechanical manipulators is presented. The neural design has been developed basically following adaptive control design principles and taking into account a number of properties that adaptive schemes and neural controllers have in common. The control loop essentially consists of a neural network for learning the robot's inverse dynamics and online generation of the control signal. Some simulation results are provided to evaluate the design.
引用
收藏
页码:1143 / 1152
页数:10
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