Possibility of neural networks controller for robot manipulators

2002 ◽  
Author(s):  
T. Yabuta ◽  
T. Yamada
Keyword(s):  
Neural Networks ◽  
Robot Manipulators

Application of Neural Networks for Control of Robot Manipulators-Simulation and Implementation

ROMANSY 11 ◽  
1997 ◽  
pp. 327-334
Author(s):  
T. Uhl ◽  
M. Szymkat ◽  
T. Bojko ◽  
Z. Korendo ◽  
J. Ród
Keyword(s):  
Neural Networks ◽  
Robot Manipulators

Adaptive chaotification of robot manipulators via neural networks with experimental evaluations

2016 ◽  
Vol 182 ◽  
pp. 56-65 ◽  
Author(s):  
Javier Moreno–Valenzuela ◽  
Carlos Torres–Torres
Keyword(s):  
Neural Networks ◽  
Robot Manipulators

scholarly journals Neural Networks-based Adaptive State Feedback Control of Robot Manipulators

2007 ◽  
Vol 2 (4) ◽  
pp. 328 ◽  
Author(s):  
Ghania Debbache ◽  
Abdelhak Bennia ◽  
Noureddine Goléa
Keyword(s):  
Neural Networks ◽  
State Feedback ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
External Disturbance ◽  
Nonlinear Function ◽  
State Feedback Control ◽  
Robot Dynamics ◽  
Robust Controller ◽  
Control Scheme

This paper proposes an adaptive control suitable for motion control of robot manipulators with structured and unstructured uncertainties. In order to design an adaptive robust controller, with the ability to compensate these uncertainties, we use neural networks (NN) that have the capability to approximate any nonlinear function over a compact space. In the proposed control scheme, we need not derive the linear formulation of robot dynamic equation and tune the parameters. To reduce the NNs complexity, we consider the properties of robot dynamics and the decomposition of the uncertainties terms. The proposed controller is robust against uncertainties and external disturbance. The validity of the control scheme is demonstrated by computer simulations on a two-link robot manipulator.

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