대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 1999년도 하계종합학술대회 논문집
- /
- Pages.1021-1024
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- 1999
변형된 궤환형 신경회로망을 이용한 로봇 매니퓰레이터 적응 제어 방식
Adaptive Control of Robot Manipulators using Modified Feedback Neural Network
-
정경권
(동국대학교 전자공학과)
;
- 이인재 (동국대학교 전자공학과) ;
- 이승현 (동국대학교 전자공학과) ;
- 김인 (동국대학교 전자공학과) ;
-
정성부
(서일대학 전자공학과)
;
-
엄기환
(동국대학교 전자공학과)
-
Jung, Kyung-Kwon
(Dept. of Electronic Engineering Dongguk University)
;
- Lee, In-Jae (Dept. of Electronic Engineering Dongguk University) ;
- Lee, Sung-Hyun (Dept. of Electronic Engineering Dongguk University) ;
- Gim, Ine (Dept. of Electronic Engineering Dongguk University) ;
-
Chung, Sung-Boo
(Dept. of Electronic Engineering Seoil College)
;
-
Eom, Ki-Hwan
(Dept. of Electronic Engineering Dongguk University)
- 발행 : 1999.06.01
초록
In this paper, we propose a modified feedback neural network structure for adaptive control of robot manipulators. The proposed structure is that all of network output feedback into hidden units and output units. Learning algorithm is standard back-propagation algorithm. The simulation showed the effectiveness of using the new neural network structure in the adaptive control of robot manipulators.
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