Neural network controllers for robot manipulators-application of damping neurons
作者： Kazuo Kiguchi , Toshio Fukuda
关键词:
摘要: _This paper presents an effective adaptive neural network feedback controller for force control of robot manipulators in unknown environment by applying damping neurons which possess elastic-viscous properties. The unexpected overshooting and oscillation caused the and/or unmodeled dynamics a manipulator can be decreased efficiently effect proposed neurons. Furthermore, fuzzy controlled evaluation function is applied learning controller, so that able to adapt more effectively. effectiveness evaluated experiment with 3 d.o.f. direct-drive planar manipulator.
elsevier.com
sci-hub.se 参考文章(17)
David E. Rumelhart, James L. McClelland, , Parallel distributed processing: explorations in the microstructure of cognition, vol. 1: foundations Computational Models of Cognition and Perception. ,(1986) , 10.7551/MITPRESS/5236.001.0001
K.J. Hunt, D. Sbarbaro, R. Żbikowski, P.J. Gawthrop, Neural networks for control systems: a survey Automatica. ,vol. 28, pp. 1083- 1112 ,(1992) , 10.1016/0005-1098(92)90053-I
K.S. Narendra, S. Mukhopadhyay, Adaptive control using neural networks and approximate models IEEE Transactions on Neural Networks. ,vol. 8, pp. 475- 485 ,(1997) , 10.1109/72.572089
E.H. Mamdani, Advances in the linguistic synthesis of fuzzy controllers International Journal of Human-computer Studies \/ International Journal of Man-machine Studies. ,vol. 8, pp. 669- 678 ,(1976) , 10.1016/S0020-7373(76)80028-4
M. H. Raibert, J. J. Craig, Hybrid position/force control of manipulators Journal of Dynamic Systems Measurement and Control-transactions of The Asme. ,vol. 103, pp. 126- 133 ,(1981) , 10.1115/1.3139652
Liang Jin, Peter N. Nikiforuk, Madan M. Gupta, Dynamic Recurrent Neural Networks for Control of Unknown Nonlinear Systems Journal of Dynamic Systems Measurement and Control-transactions of The Asme. ,vol. 116, pp. 567- 576 ,(1994) , 10.1115/1.2899254
F.L. Lewis, K. Liu, A. Yesildirek, Neural net robot controller with guaranteed tracking performance IEEE Transactions on Neural Networks. ,vol. 6, pp. 703- 715 ,(1995) , 10.1109/72.377975
Hiroaki Gomi, Mitsuo Kawato, Neural network control for a closed-loop System using Feedback-error-learning Neural Networks. ,vol. 6, pp. 933- 946 ,(1993) , 10.1016/S0893-6080(09)80004-X
Tomohiro Takagi, Michio Sugeno, Fuzzy identification of systems and its applications to modeling and control systems man and cybernetics. ,vol. 15, pp. 116- 132 ,(1985) , 10.1109/TSMC.1985.6313399
Seul Jung, T. C. Hsia, A study of neural network control of robot manipulators Robotica. ,vol. 14, pp. 7- 15 ,(1996) , 10.1017/S0263574700018890