Multilayer neural network based asymptotic motion control of saturated uncertain robotic manipulators

2021 ◽  
Author(s):  
Guichao Yang ◽  
Hua Wang
Keyword(s):  
Neural Network ◽  
Motion Control ◽  
Robotic Manipulators ◽  
Asymptotic Motion

Neural Network Applications for Robotic Motion Control

1990 ◽  
Vol 2 (3) ◽  
pp. 157-161
Author(s):  
Toshio Fukuda ◽  
◽  
Takanori Shibata
Keyword(s):  
Neural Network ◽  
Dynamic System ◽  
Motion Control ◽  
Force Control ◽  
Robotic Manipulators ◽  
Network Applications ◽  
The Neural Network ◽  
Robotic Motion ◽  
Servo Controller ◽  
Neural Network Applications

This paper deals with neural network applications for the robotic motion control. The neural network can be employed for both the long term ""learning"" of the control process and the short term ""adaptation"" of the dynamic process. In this paper, we demonstrate some dynamic controls of robotic manipulators using the ""Neural Servo Controller"" which is applicable to the position and force control of robotic manipulators. The ""Neural Servo Controller"" is based on the neural network which here consists of two hidden layers and input/output layers. The controller can adjust the neural network output to the robot in the forward manner to cooperate with the feedback loop, depending on unknown characteristics of handling objects. In particular, the proposed neural network has time delay elements in itself, so that the neural network can learn the dynamics of the system. Simulations are carried out for position and force control of a two dimensional robotic manipulator. Moreover, we propose a ""Fuzzy Turbo"" so that the neural network can learn the dynamic system quickly. The results show the applicability and adaptability of the proposed ""Neural Servo Controller"" to the nonlinear and dynamic system, and the ability of the proposed ""Fuzzy Turbo"" on the adaptive process.

scholarly journals High-accuracy motion control of a motor servo system with dead-zone based on a single hidden layer neural network

2020 ◽  
Vol 30 (1) ◽  
pp. 27-44
Author(s):  
Jian Hu ◽  
Shupeng Cao ◽  
Chenchen Xu ◽  
Jianyong Yao ◽  
Zhiwei Xie
Keyword(s):  
Neural Network ◽  
Motion Control ◽  
Dead Zone ◽  
Servo System ◽  
High Accuracy ◽  
Hidden Layer

scholarly journals Robust Control for Robotic Manipulators Base on Adaptive Neural Network

2014 ◽  
Vol 8 (1) ◽  
pp. 497-502 ◽  
Author(s):  
Wenhui Zhang ◽  
Xiaoping Ye ◽  
Lihong Jiang ◽  
Fang Yamin
Keyword(s):  
Neural Network ◽  
Robust Control ◽  
Robotic Manipulators ◽  
Adaptive Neural Network
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