대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1990년도 하계학술대회 논문집
- /
- Pages.500-503
- /
- 1990
신경회로를 이용한 6축 Robot의 Dynamic Control
Dynamic Control of A Sik-link Robot Using Neural Networks
- Joe, Moon-Jeung (Dept. of Electrical Engneering Pohang Institute of Science and Technology) ;
- Oh, Se-Young (Dept. of Electrical Engneering Pohang Institute of Science and Technology)
- 발행 : 1990.07.05
초록
Neural network is a computational model of the biological nervous system developed to exploit its intelligence and parallelism. Applying neural networks to robots creates many advantages over conventional control methods such as learning, real-time control, and continuous performance improvement through training and adaptation. In this paper, dynamic control of a six-link robot will be presented using neural networks. The neural network model used in this paper is the backpropagation network. Simulated control of the PUMA 560 arm shows that it can move at high speed as well as adapt to unforseen load changes. The results are compared with the conventional PD control scheme.
키워드